The main goal of this study is to propose a trajectory planning algorithm for the merging control of heterogeneous vehicular platoons. Merging control is essential for the application of vehicular platoons. by which vehicles can be coordinated to form a platoon in a lane. While most previous researches on merging control only considered the operation on straight roads and ramps. https://fitnessgravesyardes.shop/product-category/front-left-cover/