To put some numbers on it in the US cars are driven about 3.2 x 10^12 miles per year, and around 4 x 10^4 people are killed in car accidents (drivers, passengers, pedestrians, and cyclists).
That's one death per 8 x 10^7 miles.
There are around 2 x 10^6 people non-fatally injured in car accidents per year in the US. That's an injury every 1.6 x 10^6 miles.
There are around 4 x 10^6 non-injury car accidents per year in the US, which is one every 8 x 10^5 miles.
If we assume all miles driving are equally risky and that we drive 40 miles per day 365 days a year, then we would expect to be in a non-injury car accident around once every 55 years, be injured in a car accident around once every 110 years, and be killed in a car accident around once every 5500 years.
Of course almost no one drives all their miles at times and in conditions when the risk per mile is average so when estimating your personal risk you need to take that into account.