Route guidance systems, methods and programs detect a current position of a host vehicle and search for a specified route to a destination based on the current position of the vehicle. The systems, methods and programs set a guidance intersection based on a specified route, and compute a recommended lane on each road along the specified route. The systems, methods and programs detect a recommended lane change point where a recommended lane changes between the current position of the vehicle and the guidance intersection. The systems, methods and programs notify the driver that the recommended lane will change before the host vehicle arrives at the recommended lane change point.