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The connected environment provides real-time information about surrounding traffic; such information can be helpful in complex driving manoeuvres, such as lane-changing, that require information about surrounding vehicles. Lane-changing modelling in the connected environment has so far received little attention. This is due to the novelty of connected environment, and the consequent scarcity of data. A behaviourally sound lane-changing model is not even available for the traditional environment; that is, an environment without driving aids. To address this need, this study develops a game theory-based mandatory lane-changing model (AZHW model) for the traditional environment and extends it for the connected environment. The CARRS-Q advanced driving simulator is used to collect high-quality vehicle trajectory data for the connected environment. The developed models (for traditional environment and …