Actually, a pick-up has a strong frame with no crumple zones so it passes energy to the passenger compartment. The safest cars have crumple zones that reduce the G forces transmitted to the passengers. Smaller cars often have the most crumple. My Suburban has totaled two cars but suffered less the $500 damage each time.

There are a number of midsize cars with very good safety records. Subarus have a strong history.

The Insurance Institute for Highway Safety has a database that goes back to 2006 based on their crash test data. Current IIHS TOP SAFETY PICKs

The F-150 is good for front end collisions if it has the front crash prevention system (automated braking system). But, that does not say what the front crash impact forces are or how it tolerates a rear impact.

A whiplash would be worse with a pick-up because they are not designed to absorb rear impacts because they needs strong bumpers to pull trailers.

Historically, Mercedes, BMW's and Volvos were the leaders but other brands/models have caught up.

Keep in mind that airbag systems do not protect below 25 to 30 mph so commute traffic accidents may not cause airbag deployment.