Navigation systems, methods and programs detect the current location of a vehicle and search a route to a destination based on the current location. The systems, methods, and programs set a guidance intersection based on the searched route, set a route guidance point at a predetermined point before the guidance intersection, and provide route guidance through the guidance intersection when the vehicle reaches the route guidance point. The systems, methods, and programs determine whether the guidance intersection is a guidance intersection where lane planning can be readily performed by a user, even if lane guidance is not performed by the controller. The systems, methods, and programs prevent lane guidance at the predetermined route guidance point from being performed if it is determined that lane planning can be readily performed by the user at the guidance intersection.