For example when faced with the decision to crash into a pedestrian or another vehicle carrying a family
Um there is no question for several reasons.
First if the situation is so immediate your only two options are hit a vehicle or hit a person its highly unlikely you have time to peer into the other vehicle and count its occupants.
Second most vehicles on the road today have lots of safety features; if they are being used, seat belts fastened airbags not disabled etc, most crashes are highly survivable; most pedestrian vehicle crashes far far less so for the pedestrian (excepting very low speed nudged someone in a parking lot cases).
Finally while your liability insurance should most likely be on the hook in any situation I can image you finding yourself faced with such a choice another driver is more likely to have supplemental coverage that will ensure they are taken if your insurer dicks out and tries to screw them.
I really can't image a situation, most things being held equal, ( I know you could contrive a situation where you will be nearly at a complete stop before you hit the pedestrian vs hitting the other vehicle at high speed ) where it would ever be appropriate to choose to hit the pedestrian.