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Combining efficiency with safety is one of the most important design challenges for connected automated trucks. In order to address this challenge for longitudinal control problems, we propose a scheme that integrates a performance-based controller with a safety-oriented controller in a seamless manner. This safe integration scheme operates instantaneously, and it is compatible with a large class of controllers. We first link this practical integration method to the theoretical framework of control barrier functions that endows controllers with formal safety guarantees. Then, through this scheme we safely integrate a predictive-type controller minimizing energy consumption (predictive cruise control—PCC) with a safety-oriented cruise controller structure relying on connectivity (connected cruise control—CCC). Importantly, the efficacy of the safe and seamless integration between the PCC and the CCC is demonstrated using on-road experiments with a full-scale connected automated truck. Initial experimental campaign is held on a closed test track, and safe driving is achieved thanks to the CCC while up to 18% energy saving is obtained thanks to the PCC. Finally, experiments are extended to a public highway, and similar results are obtained with up to 4.3% energy saving.