Per WaPo's police shooting database[1], there were 51 last year (going up to 71 if you include unknown, 173 including unknown and undetermined). Filter down to people who were not fleeing or having a mental health crisis and you get 8 (26 including unknown and undetermined). While that still represents a problem in the use of force by cops, to say nothing of the idea that carrying a weapon (which is legal in much of the US) means that your death at the hands of the police is acceptable, killings of unarmed people seem far from routine. I don't think you have any reason to believe you will be killed by the police for not giving them your ID.
[1]https://www.washingtonpost.com/graphics/investigations/polic...