Yes there are lots of statistics.

As far as fatalities:

Almost all agree that bicycling is nowhere near as dangerous as motorcycling.

Per mile traveled (which gives the worst comparison for bicyclists), bicycling maybe slightly more dangerous than driving. (However, keep in mind the figures include children, drunks, no-lights at night, etc). So I believe that if you can stay out of all of those demographics you can be at a lower risk of death than driving.

Also, none of this factors in the positive health benefits. The net result of bicycling is a longer life expectancy on average.

On the other hand, you are likely to increase your risk of non-fatal injury.