A lane recognizing device comprises: an image processing means (2) which performs a process of estimating a lane of a road by processing an image of the road obtained via an imaging means (8) and outputs a result of the process as first lane information; a holding means (3) which holds map data of the road; a position information obtaining means (4) which obtains the current position information of a vehicle; a lane estimating means (5) which performs a process of estimating the lane of the road using the map data and the current position information and outputs a result of the process as second lane information; and an actual lane recognizing means (6) which recognizes an actual lane of the road on the basis of the first lane information and the second lane information. Thereby, even if there is an unpredictable skid mark or road repaired part, it is possible to detect the lane accurately while increasing the opportunities for detecting the lane as much as possible by processing the road image obtained via the imaging means such as a camera and obtaining the road information from a GPS or the like and the map data.