| Summary: | Driving characteristics of lane departure can provide design principles for lane departure warning system and lane keeping assist system. In this article, based on driving simulator experiments of unintentional lane departure, the operation performances of human drivers, the motion characteristics of vehicles, and the relative motion between the vehicle and lane line are synthetically studied. First, unintentional lane departure is classified into lane departure by fatigue and lane departure by secondary task. Subsequently, two simulator experiments of fatigue-based lane departure and secondary task–based are designed and performed to collect the synchronous driver–vehicle–road data. The data of steering angle, steering angle velocity, steering angle entropy, lateral acceleration, lateral velocity, and yaw velocity, under fatigue-based and secondary task–based lane departure are collected and compared with those gathered under normal lane changing. Results show that the characteristics of unintentional lane departures differ from that of normal lane departure changing. Furthermore, the characteristics of fatigue-based lane departures are shown some differences with that of secondary task–based ones.
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