Route guidance systems, methods, and programs detect a current position of a vehicle and search for a route to a destination on the basis of the vehicle position. The systems, methods, and programs set a guidance point at a predetermined distance before a target point on the searched route. If a guidance condition is met, the systems, methods, and programs provide route guidance about the target point when the vehicle reaches the guidance point, the guidance condition being met on the basis of the presence or absence of traffic lights at each of at least one intersection between the guidance point and the target point. If the guidance condition is met, the systems, methods, and programs output route guidance, the content of the route guidance being preset based on the guidance condition.