A method for determining a vehicle action, applicable to a travel control device, comprising: by a controller configured to acquire travel situation information of a road on which a host vehicle (A) travels detected by a sensor and determine a driving action based on the travel situation information, setting at least one control determining point (CP1) on a first route (R1) on which the host vehicle (A) travels while traveling on the first route (R1), the control determining point (CP1) determining whether to run or stop the host vehicle (A) by using the travel situation information; and determining whether to run or stop the host vehicle (A) at the control determining point (CP1) before the host vehicle (A) reaches the control determining point (CP1), wherein the controller is further configured to: determine, based on the travel situation information, whether or not the host vehicle (A) enters a road on which another vehicle (B) or a pedestrian travels or walks with priority over the host vehicle (A) while traveling on the first route (R1) on which the host vehicle (A) travels; and in a case where it is determined that the host vehicle (A) enters the road on which the other vehicle (B) or the pedestrian travels or walks with priority over the host vehicle (A), set the control determining points (CP0, CP1, ..., CP7) more densely than in other cases. by a controller configured to acquire travel situation information of a road on which a host vehicle (A) travels detected by a sensor and determine a driving action based on the travel situation information, setting at least one control determining point (CP1) on a first route (R1) on which the host vehicle (A) travels while traveling on the first route (R1), the control determining point (CP1) determining whether to run or stop the host vehicle (A) by using the travel situation information; and determining whether to run or stop the host vehicle (A) at the control determining point (CP1) before the host vehicle (A) reaches the control determining point (CP1), wherein the controller is further configured to: determine, based on the travel situation information, whether or not the host vehicle (A) enters a road on which another vehicle (B) or a pedestrian travels or walks with priority over the host vehicle (A) while traveling on the first route (R1) on which the host vehicle (A) travels; and in a case where it is determined that the host vehicle (A) enters the road on which the other vehicle (B) or the pedestrian travels or walks with priority over the host vehicle (A), set the control determining points (CP0, CP1, ..., CP7) more densely than in other cases. determine, based on the travel situation information, whether or not the host vehicle (A) enters a road on which another vehicle (B) or a pedestrian travels or walks with priority over the host vehicle (A) while traveling on the first route (R1) on which the host vehicle (A) travels; and in a case where it is determined that the host vehicle (A) enters the road on which the other vehicle (B) or the pedestrian travels or walks with priority over the host vehicle (A), set the control determining points (CP0, CP1, ..., CP7) more densely than in other cases. <EOS>