DEVICE FOR DETERMINING ROAD PROFILE, ONBOARD IMAGE-RECOGNITION DEVICE, DEVICE FOR ADJUSTING IMAGE-CAPTURING AXIS, AND LANE-RECOGNITION METHOD.

An imaging angle of an imaging unit disposed in a vehicle is estimated with a less computational load. An in-vehicle image recognizing device disposed in a vehicle (1) recognizes a lane shape of a travel lane along which the vehicle (1) travels based on an image captured by a camera (10) capturing an image of a travel road around the vehicle (1). An imaging angle of the camera (10) is calculated based on the recognized lane shape. It is determined whether or not there is a bias in the recognized lane shape, and the imaging angle of the camera (10) is corrected using the imaging angle when it is determined that there is no bias. The standard deviation of the imaging angle when it is determined that there is no bias is calculated, and the imaging angle of the camera (10) is corrected depending on the calculated standard deviation. The behavior of the vehicle (1) is recognized by detecting a speed and a steering angle of the vehicle (1) and the imaging angle of the camera (10) is corrected by determining whether or not there is a bias in the behavior of the vehicle (1).