A travel route calculation device for autonomous travel comprising: a travel route calculation unit configured to calculate a travel route for a subject vehicle to arrive at a destination; an information acquisition unit configured to acquire information on an object, the object affecting recognition of a feature by the subject vehicle, the feature being located ahead of the subject vehicle on the travel route; a distance calculation unit configured to calculate a necessary recognition distance from the subject vehicle to the feature; a determination unit configured to determine a difficulty in recognizing the feature, on the basis of the object information and the necessary recognition distance; the travel route calculation unit being configured to calculate the travel route while avoiding a location at which recognition of the feature is determined to be difficult by the determination unit ; a drive control unit configured to recognize information concerning the feature, characterized: in that the feature specifies traffic rules that the subject vehicle must follow when traveling on the travel route, in that the drive control unit is configured to decide an action for an autonomous drive on the basis of the recognized information, and to perform autonomous drive control on the basis of the action decided, and in that the necessary recognition distance is a distance necessary for the drive control unit to recognize the information when deciding the action. a travel route calculation unit configured to calculate a travel route for a subject vehicle to arrive at a destination; an information acquisition unit configured to acquire information on an object, the object affecting recognition of a feature by the subject vehicle, the feature being located ahead of the subject vehicle on the travel route; a distance calculation unit configured to calculate a necessary recognition distance from the subject vehicle to the feature; a determination unit configured to determine a difficulty in recognizing the feature, on the basis of the object information and the necessary recognition distance; the travel route calculation unit being configured to calculate the travel route while avoiding a location at which recognition of the feature is determined to be difficult by the determination unit ; a drive control unit configured to recognize information concerning the feature, characterized: in that the feature specifies traffic rules that the subject vehicle must follow when traveling on the travel route, in that the drive control unit is configured to decide an action for an autonomous drive on the basis of the recognized information, and to perform autonomous drive control on the basis of the action decided, and in that the necessary recognition distance is a distance necessary for the drive control unit to recognize the information when deciding the action. in that the feature specifies traffic rules that the subject vehicle must follow when traveling on the travel route, in that the drive control unit is configured to decide an action for an autonomous drive on the basis of the recognized information, and to perform autonomous drive control on the basis of the action decided, and in that the necessary recognition distance is a distance necessary for the drive control unit to recognize the information when deciding the action. <EOS>