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One of the main triggers of traffic congestion on highways is vehicle merging at on-ramps. The development of automated procedures for cooperative vehicle merging is aimed to ensure safety and alleviate congestion problems. In this work, a longitudinal trajectory planning methodology is presented, developed to assist the merging of vehicles on highways; it achieves safe and traffic-efficient merging, while minimizing the engine effort and passenger discomfort through the minimization of acceleration and its first and second derivatives during the merging maneuver. The problem is formulated as a finite-horizon optimal control problem and is solved analytically. This enables the solution to be stored on-board, saving computational time and rendering the methodology suitable for practical applications. The tunable weights, used for taking into account the different optimization criteria, may serve as parameters to …