Fuel consumption and emissions in parallel hybrid electric vehicles (HEVs) are directly linked to the way the load request to the wheels is managed between the internal combustion engine and the electric motor powered by the battery. A significant reduction in both consumption and emissions can be achieved by optimally controlling the power split on an entire driving mission (full horizon—FH). However, the entire driving path is often not predictable in real applications, hindering the fulfillment of the advantages gained through such an approach. An improvement can be achieved by exploiting more information available onboard, such as those derived from Advanced Driver Assistance Systems (ADAS) and vehicle connectivity (V2X). With this aim, the present work presents the design and verification, in a simulated environment, of an optimized controller for HEVs energy management, based on dynamic programming (DP) and receding horizon (RH) approaches. The control algorithm entails the partial knowledge of the driving mission, and its performance is assessed by evaluating fuel consumption related to a Worldwide harmonized Light vehicles Test Cycle (WLTC) under different control features (i.e., horizon length and update distance). The obtained results show a fuel consumption reduction comparable to that of the FH, with maximum drift from optimal consumption of less than 10%.