Simon Burton, 26, from Chesterfield was run over crossing the road to position a sign.
The HSE says that there was no risk assessment carried out by the firms for the particular operation and that Burton had worked excessive hours prior to the accident, contravening the Working Time Regulations.
It is also alleged that Lafarge contravened section 3 (1) of the Health and Safety at Work Act in that it failed to ensure the safety of people not in its employment.
Lafarge is also charged with breaching the Management of Health and Safety at Work Regulations and the Construction (Design Management) Regulations.
It is alleged that Pertemps contravened sections 2 (1) and 3 (1) of the Health and Safety at Work Act.