When in doubt, don’t go out. If you get to a lake and you feel for just an instance that something about the ice may not be safe, don’t walk on it. Late ice goes bad quickly. The best preparation is preparing to accept that the season is done. If you get to the lake already accepting the fact that it may be over, you’re more inclined to make the smart choice. If you are going to avoid good judgement, a wet suit, using a spud bar before each step, having a 100 foot rope tied to your waist with an attentive friend on shore the whole time, ice picks around your neck, and a life jacket may help you get out safely, maybe.