We never feed our dogs if they are going to be in the car for more than maybe 1/2 to 1 hour. There are a couple that still have a problem once in a while; we have found that covering their crate with a couple towels so they can't see out helps.
I would also suggest not carrying him on your knees if you can avoid it. If you have an accident, he becomes a projectile or, worse yet, he is between you and an airbag going off. Think of him just like a child. No matter how short a distance we go, our dogs are in a crate in the back.