A travel control device comprising: an information acquisition unit configured to acquire object information including a position of an avoidance object which a subject vehicle should avoid; a control unit configured to output command information for driving the subject vehicle on the target route, and a planning unit configured to: specify, as an avoidance object group, a plurality of avoidance objects that are located within a predetermined distance from the subject vehicle and exist in a same lane adjacent to a lane in which the subject vehicle travels; plan a target route for the subject vehicle in accordance with the position of the avoidance object so as to avoid the avoidance object and the object group; set, when planning the target route, a lateral position of the target route along a width direction of a road on which the subject vehicle is traveling, the lateral position of the target route being planned so as to avoid the avoidance object group on a basis of the position of the avoidance object satisfying a predetermined condition among the avoidance objects which constitute the avoidance object group, and characterized in that the planning unit specifies the avoidance object group such that a number of avoidance objects included in one avoidance object group is equal to or smaller than a predetermined number. an information acquisition unit configured to acquire object information including a position of an avoidance object which a subject vehicle should avoid; a control unit configured to output command information for driving the subject vehicle on the target route, and a planning unit configured to: specify, as an avoidance object group, a plurality of avoidance objects that are located within a predetermined distance from the subject vehicle and exist in a same lane adjacent to a lane in which the subject vehicle travels; plan a target route for the subject vehicle in accordance with the position of the avoidance object so as to avoid the avoidance object and the object group; set, when planning the target route, a lateral position of the target route along a width direction of a road on which the subject vehicle is traveling, the lateral position of the target route being planned so as to avoid the avoidance object group on a basis of the position of the avoidance object satisfying a predetermined condition among the avoidance objects which constitute the avoidance object group, and characterized in that the planning unit specifies the avoidance object group such that a number of avoidance objects included in one avoidance object group is equal to or smaller than a predetermined number. specify, as an avoidance object group, a plurality of avoidance objects that are located within a predetermined distance from the subject vehicle and exist in a same lane adjacent to a lane in which the subject vehicle travels; plan a target route for the subject vehicle in accordance with the position of the avoidance object so as to avoid the avoidance object and the object group; set, when planning the target route, a lateral position of the target route along a width direction of a road on which the subject vehicle is traveling, the lateral position of the target route being planned so as to avoid the avoidance object group on a basis of the position of the avoidance object satisfying a predetermined condition among the avoidance objects which constitute the avoidance object group, and characterized in that the planning unit specifies the avoidance object group such that a number of avoidance objects included in one avoidance object group is equal to or smaller than a predetermined number.