This paper focuses on acceleration trajectory shaping using model predictive control for autonomous vehicles. The proposed method employs two types of constraints for the shaping: hard constraints. which must be satisfied and soft constraints. which can be relaxed if required. https://www.roneverhart.com/HP-Chromebook-X360-14b-ca0013dx-14-HD-Touchscreen-1366-x-768-Laptop-Intel-Celeron-N4000-4-GB-RAM-32-GB-eMMC-Intel-UHD/