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Highway on-ramp merging is considered as one of the main factors that causes traffic congestion on highways. The drivers along the on-ramp need to adjust vehicle speeds and positions to enter the highway, while the drivers on the highway should also carefully accommodate vehicle speeds and positions to avoid collision with the merging vehicles from the on-ramp, which heavily affects upstream traffic flows. In congested traffic conditions, such maneuvers if inefficiently performed will lead to high risks of accidents and excessive energy consumption and pollutant emissions. In this work, we present an innovative approach to this scenario, where distributed consensus protocol is developed for Connected and Automated Vehicles (CAV) to cooperate with each other by using Vehicle-to-X (V2X) communications.