The fuel injection rate (ROI) is a crucial factor that affects the combustion and emissions of diesel engines. This study focuses on the injection pressure in a common rail system, which is divided into a high-pressure section and a low-pressure section. A control-oriented ROI shaping (ROIs) model is developed based on the switching strategy between high and low injection pressure. Three types of ROI were generated, namely ROIB (conventional ROI), boot-ROI (low followed by high injection pressure), and anti-boot-ROI (high followed by low injection pressure) respectively. The 1-D and 3-D numerical simulations are conducted to analyze the impact of the shaped ROI on combustion and emissions for steady condition and transient condition. In terms of overall results, boot-ROI shows significant advantage among the three types of ROI. For the steady condition, the boot-ROI was able to increase the IMEP (indicated mean effective pressure) (1.57 bar) at high load conditions with almost unchanged NOx emission. For low load conditions with delayed SOI (start of injection), the exhaust temperature is close to that of the ROIB with a reduction of 0.51 g/kW·h in NOx emissions. For transient condition, the boot-ROI also shows its advantage. It was found to improve the BSFC (brake specific fuel consumption) with almost unchanged NOx emission during load-down process. And in load-up process, the BSFC and soot emission also could be improved with slightly increase in NOx emission through advance of SOI when boot-ROI was adopted. The one-dimensional model using boot-ROI reduces fuel consumption by 2 g/kW·h in experiment with WHTC cycles, with slightly higher soot emission and similar NOx emission.