Death / km driven is only a good metric if you think driving more is inherently good.
There should be a well-defined unitless quantity that's real-valued across human history, say normalizing by population size and total human travel. I am not claiming that fixes the NaN, just that the NaN is a smell.
Another smell is that everyone being horribly maimed but never killed would not be a victory for safety though the above metric says it'd be great.