The travel route calculation device includes a travel route calculation unit configured to calculate a travel route for a subject vehicle to arrive at a destination, a feature detection unit configured to detect a feature, and a distance measurement unit configured to measure a distance from the subject vehicle to the feature as a necessary recognition distance. The necessary recognition distance is necessary for the subject vehicle to recognize the feature when deciding an action of the subject vehicle. The travel route calculation device further includes a determination unit configured to determine difficulty in recognizing the feature, on the basis of a detection range of the feature detection unit and the necessary recognition distance. The travel route calculation unit calculates the travel route while avoiding a location at which recognition of the feature is determined to be difficult by the determination unit.