Disclosed is a navigation device which extracts an entrance and exit section which exists ahead of a vehicle and in which a vehicle is permitted to make a lane change between an HOV lane and a normal lane on the basis of information about the position of the vehicle and map data in which the HOV lane and the normal lane are defined by a single link, extracts a branch point on the HOV lane existing ahead of the vehicle on the basis of the map data and the position information, determines a guidance time for the extracted entrance and exit section, and another guidance time for the branch point, and provides guidance notifying that the vehicle can exit the HOV lane or guidance notifying that the vehicle can enter the HOV lane at the guidance time, or provides guidance on the branch at the other guidance time.