I don't think it's the safest thing in the world (since there is always a risk of crash and you'll be travelling at high speeds on the highway), but I would do it.
Kids also aren't buckled in on the metro, the metro goes high speeds on our route, and we take that all the time. Same for trains.
If you are only going for a daytrip, definitely don't try to take a car seat because you would have to lug it around while sightseeing.