1. A lane recognition device comprising: an edge point extracting unit which extracts edge points whose luminance difference from a surrounding portion is equal to or more than a predetermined level from an image captured by a camera mounted in a vehicle; a demarcation line candidate recognizing unit which recognizes demarcation line candidates which are candidates for a pair of right and left demarcation lines demarcating a lane based on the edge points having predetermined continuity; and a demarcation line candidate modifying unit which excludes edge points whose corresponding positions in a real space are a predetermined distance or more away from the camera in a case where parallelism between the pair of right and left demarcation line candidates recognized by the demarcation line candidate recognizing unit is equal to or less than a predetermined level and re-recognizes the pair of right and left demarcation line candidates based on the edge points having the predetermined continuity among the edge points which were not excluded.