The recognition of a lane boundary line expressed by a stud-shaped lane mark is realized with high accuracy against noise and with a small calculation amount and a small memory consumption amount.A lane recognition device extracts a candidate position of a lane mark from a received input image. A vote value is weighted according to the elapsed time with regard to the extracted candidate position of the lane mark to cumulatively perform voting to a parameter space of an approximate curved line or an approximate straight line, and, thus, to generate a time-series cumulative voting feature image. A candidate of a lane boundary line position is extracted based on the generated time-series cumulative voting feature image to determine the lane boundary line position. The lane recognition device may be provided with an image output device which images an image and outputs the imaged image.