TRAVEL CONTROL DEVICE AND TRAVEL CONTROL METHOD

A travel control device (100) is provided which executes an object information acquisition function to acquire object information including the position of an avoidance object which a subject vehicle (V1) should avoid, a planning function to plan a target route for the subject vehicle (V1) in accordance with the position of the avoidance object so as to avoid the avoidance object, and a control function to output command information for driving the subject vehicle (V1) on the target route. The planning function is used to specify, as an avoidance object group, a plurality of avoidance objects that are located within a predetermined distance from the subject vehicle (V1) and exist in the same lane adjacent to a lane in which the subject vehicle (V1) travels and to set a lateral position of the target route along the width direction of a road on which the subject vehicle (V1) is traveling. The lateral position of the target route is planned so as to avoid the avoidance object group on the basis of the position of an avoidance object satisfying a predetermined condition among the avoidance objects which constitute the avoidance object group.