Wild animals attack things that they perceive as a threat or prey. The lions and the other animals on the safari are used to seeing the safari vehicles multiple times a day. They understand that the vehicles don't pose any threat to them. So they don't see the vehicle as a challenge to attack.
At the same time, the vehicles are usually large. It's usually a big bus or a convoy of jeeps that move together. The wild animals see the convoy as a bug single unit and therefore, it doesn't want to prey on it either.
However, incidents of lions attacking tourists on safari are not unheard of either. They are used to seeing the vehicles follow a particular pattern but if something happens out of the ordinary that they aren't used to, they would see it as a threat and their instinct would be to attack. For example, if someone uses flash to click pictures, plays loud music, talks loudly or wears a strong perfume, that may trigger the animals to attack the tourists.
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