Driver＇s　inattention　is　the　main　reason　for　lane　departure　accidents　in　highway　traffic.　In　this　paper,　the　pulse　steering　torque　warnings　technique　is　studied,　and　the　effects　of　pattern,　amplitude　and　frequency　of　pulse　steering　torque　warnings　on　the　effectiveness　and　customers＇　acceptance　are　studied　through　in-door　experiments　based　on　a　fixed-based　driving　simulator.　Prototypes　of　lane　departure　warning　system　with　twelve　parameter　settings　were　developed.　Three-ways　repeated　measures　ANOVAS　and　t-test　are　used　to　assess　the　effects　of　warning　systems.　The　steering　behaviors　of　20　drivers　during　lane　departure　are　analyzed.　The　experimental　results　show　that　both　primary　and　secondary　interaction　of　amplitude,　frequency　and　pattern　are　not　significant.　The　superimposed　square　pulse　steering　torque　is　more　effective　than　triangular　pulse　one.　There　is　little　difference　of　drivers＇　preference　in　pulse　patterns.　Although　large　amplitude　is　less　accepted　by　drivers,　it　improves　the　correction　maneuver　greatly.　10　Hz　is　a　preferred　frequency,　which　achieves　a　compromise　between　effectiveness　and　drivers＇　acceptance.　Thus,　the　combination　of　small　amplitude,　square　and　mid-frequency　is　the　best　compromise　for　practical　application.　(C)　2015　Published　by　Elsevier　Ltd.