I absolutely detest PvP. That being said, I still find WvW to be more fun than I had expected.
There are several ways to go about it:
1. Stay in your "controlled" areas, and pick up explorable points in relative safety (even all by yourself).
2. Group up with some friends/guildies, and trek together to some of the questionable areas (skill points in the northern corners, jumping puzzle, central areas, etc).
3. Find a commander tag, and join a group of about 50 other people that tend to follow (ie, be a "lemming"). Most of the time, you won't be singled-out, so if you do end up dead, it's usually due to standing in AoE too long. With 49 other potential targets, they're not going to care so much about a back-liner who doesn't appear to pose much of a threat. Once you capture a tower/keep/supply camp, you'll easily be able to pick up the explorable points within. With such a large group, you get more protection against the solo-ers and smaller groups who would attack you if they found you out on your own.
You can pretty easily get 100% exploration in the WvW maps without seeing any combat. Each week, the maps "rotate" - at the time of this writing, SoR calls the northern borderland home. Next week, they'll be in the western one, and the week following they'll be to the east. In the EB (central) map, you start on the side adjacent to your home borderlands. With proper planning (and 3 weeks), you can get most of it mapped out without even seeing a real enemy.
The following map may be useful in figuring out when to do your exploration:
http://gw2score.com/livemap/Sanctum-of-Rall
Find the color that corresponds to SoR, and see what areas are "safer" than others based on that color. Some days, we will control entire maps, other days, we may be pushed back to out starting point or off the map entirely, so plan your trips accordingly. If you really want to avoid the frustration of battle, shift click on your starting waypoint and stick in Party chat, and turn off all other chat. If you see enemies heading your way, you can simply click the waypoint in your chat window to teleport to safety.