1. A lane recognition apparatus for a vehicle, comprising: an image picking-up section picking up a road image in front of the vehicle; a lane-marker candidate-point detecting section detecting coordinate values of a plurality of lane marker candidate points from the road image; and a road model parameter calculating section estimating 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.