The paper examines the influences of attitude and perceptions on mode choice decisions while accounting for household interactions. A nested ICLVmodel is estimated, incorporating six types of tour typology at the upper level, and the lower level considers four modes (active, PT, MTW, and car) under each tour type. The formulation of tour typologies, consist of a combination of activity types (maintenance, discretionary, and a mix of both these activities) and 'with-whom' travel arrangements (household members and non-household members), is an important contribution of the study. Three latent constructs-green lifestyle, perceived residential neighborhood, and safety consciousness-extracted from 10 measurement items are integrated into the nested framework to account for the taste heterogeneity arising from variations in the perceptions and attitudes of decision-makers. This model is estimated at the household level by considering the activity-travel diary data of Bhubaneswar city, comprising 858 households, 1454 adult individuals, and 2214 joint tours. The tour typologies reveal that intra-household interactions are more pronounced than inter-household interactions involving non-family members. The results from the structural model of the ICLV framework indicate that household socio-demographics and built environment variables significantly influence the attitudes and perceptions of adult household members. With the inclusion of latent factors in the nested ICLV model estimation, a substantial part of the intrinsic taste (or distaste) variability was captured that was previously ascribed to alternative specific constants. Additionally, the study contributed to the literature by deriving distinct values of travel time savings for PT ((sic)19.978/hr.), MTW ((sic)30.687/hr.), and car ((sic)39.635/hr.) for different tour typologies. A sensitivity analysis of selected control variables is carried out, and policy interventions from a broad viewpoint are also discussed.