Watch the >> Fretboard View online guitar lesson by Larry Carlton from 335 Improv
As we talk our way through the improvisation here, notice that two of the core concepts that we've been hammering away at are at work: thinking ahead and finding common tones. Being aware of the scales for each chord (which we covered in the last lesson) makes it easier to identify - just a hair in advance - which notes will be good to land on in the next chord.
It's kind of like reading music on the page: you're playing one measure but always reading ahead by a bar or two so that you know what's coming. That's what should be happening in your mind as you improvise - you're living in the moment but thinking a little bit ahead too.