1. A lane marker recognition method, comprising the steps of: inputting an image including a lane marker; extracting an edge point, which is a luminance change point in the image input in the image inputting step, and calculating an angle representing an orientation of each of the edge points extracted; and estimating a position of the lane marker by extracting, from among the edge points extracted in the edge extracting step, those edge points the angles of which are a predetermined value or fall within a predetermined range of values.