Lane recognition apparatus for vehicle

A lane recognition apparatus (1) for a vehicle is comprised of an image picking-up section (101) which picks up a road image in front of the vehicle, a lane-marker candidate-point detecting section (103, 104, 105) which detects coordinate values of a plurality of lane marker candidate points from the road image, and a road model parameter calculating section (106) which estimates a road model parameter representative of a road shape in front of the vehicle and a vehicle state quantity of the vehicle using an extended Kalman filter, on the basis of the coordinate values of the lane marker candidate points.