If safety is your top priority, then instead of the Hyundai Exter (which has not yet been crash-tested) and the Maruti Suzuki Baleno (which has received a 2-star GNCAP rating), we would suggest the recently facelifted Tata Punch. It has secured a 5-star BNCAP rating, giving it the added level of safety you are looking for.
The Tata Punch is also easy to drive, the AMT gearbox works well in the city, the ride quality is comfortable, and it feels confident at higher speeds.
On the downside, the 1.2-litre naturally aspirated engine lacks punch for highway use, and the rear seat is not the most spacious.