I've driven in lightning storms quite a bit and never have once got harmed so in my opinion it's safe to driving during the lightning storm as long as you're not touching anything metal and the gas pedals and break pedals have rubber on them which will protect you from getting shocked and your shoes will also protect you from getting shocked.
If possible though wait until the thunderstorm is over before driving but you're likely pretty safe in your car during a lightning storm and driving.