In terms of safety, the small/midsize SUVs with AWD that have earned the top rating (TSP+) from the Insurance Institute for Highway Safety *and* a 5-star overall rating from NHTSA testing are the Subaru Forester & Outback, Volvo XC60, and Mercedes M-class. The Subarus are solidly within your price range, though it's possible you could score a deal on one of the others.
I wouldn't view this as a definitive list because many vehicles have not yet been tested by one organzation or the other, and some have incomplete data. I may also have missed 1 or 2 vehicle models in my review of the lists.
And of course, newer vehicles are such an improvement over older models (when you consider now-standard features like Electronic Stability Control) that smaller differences in test scores may not be terribly meaningful. Still, that may be a starting point for you.
Two other vehicles I like in this category are the Nissan Rogue and the Subaru Impreza wagon. The Rogue was totally redesigned for 2014 and hasn't been safety-tested yet; it has some nice features like a 360 camera system and optional folding 3rd-row seat. The Impreza wagon has plenty of cargo space and is cheaper and more fuel-efficient than some of its SUV cousins despite having a great AWD system and good safety scores.
I have to say, despite a slightly lower score on one of the IIHS crash tests, the Honda CR-V is also a great vehicle with lots of family-friendly touches like storage cubbies, and good reliability and fuel economy. I would still consider it a top contender.