1. A lane recognition device comprising: a feature extraction unit which extracts a plurality of candidate positions of a lane mark from each of a plurality of input images which are received in a time-series manner; a cumulative voting unit which weights a vote value according to an elapsed time from a time at which each of the plurality of candidate positions has been extracted to the present time and cumulatively votes to a parameter space of an approximate curved line or an approximate straight line, to generate a cumulative voting feature image, the approximate curved line or approximate straight line being estimated from each candidate position, the cumulative voting feature image being a set of a plurality of cumulative vote values on the parameter space; and a lane boundary discrimination unit which extracts a candidate of a lane boundary line position based on the cumulative voting feature image to determine the lane boundary line position.