Since you said that it gives jerk while stopped,,it could be the problem with engine not able to produce enough torque or run at adequate speed..which happens for various reasons,, If your car feels shaky while stopped on D, then make sure your air filter is good...ignition system is ok,,and if it did not work then the next thing would be to look at the mass flow sensors to make sure that they are clean,,all of them work together to keep the engine running at a company defined speed to meet the required torque output. If anything causes obstruction in air intake flow or air flow sensor could not sense the air flow then the whole engine speed control process gets screwed up..Another thing to look at would be the EGR valve which keep the engine speed under control and emissions low at idle conditions