A route guidance device used for a vehicle which provides a travel route to a predetermined destination or an autonomous vehicle which is autonomously driven along the travel route, the route guidance device comprising: a detection unit (10, 20) configured to detect a position of a host vehicle and a travel lane; a change determination unit configured to determine whether the host vehicle should change the travel lane detected by the detection unit (10, 20) to another lane so as to travel toward a junction or an intersection on the travel route; a road determination unit configured to determine whether a road between the position of the host vehicle detected by the detection unit (10, 20) and the junction or the intersection meets road conditions; and a guide unit configured to provide guidance about a point to change lanes, characterized in that when the change determination unit determines that the host vehicle should change the travel lane to the other lane, and the road determination unit determines that the road between the position of the host vehicle and the junction or the intersection meets the road conditions, the guide unit provides the guidance to change the lanes in front of a point meeting the road conditions when a distance from the point meeting the road conditions to the junction or the intersection is shorter than a predetermined distance, and when the change determination unit determines that the host vehicle should change the travel lane to the other lane, and the road determination unit determines that the road between the position of the host vehicle and the junction or the intersection meets the road conditions, the guide unit provides the guidance to change the lanes ahead of a point meeting the road conditions when the distance from the point meeting the road conditions to the junction or the intersection is longer than the predetermined distance, wherein meeting the road conditions includes the presence of either a lane-change restricted zone, a merging point, a branching point, a curve, or a tunnel. a detection unit (10, 20) configured to detect a position of a host vehicle and a travel lane; a change determination unit configured to determine whether the host vehicle should change the travel lane detected by the detection unit (10, 20) to another lane so as to travel toward a junction or an intersection on the travel route; a road determination unit configured to determine whether a road between the position of the host vehicle detected by the detection unit (10, 20) and the junction or the intersection meets road conditions; and a guide unit configured to provide guidance about a point to change lanes, characterized in that when the change determination unit determines that the host vehicle should change the travel lane to the other lane, and the road determination unit determines that the road between the position of the host vehicle and the junction or the intersection meets the road conditions, the guide unit provides the guidance to change the lanes in front of a point meeting the road conditions when a distance from the point meeting the road conditions to the junction or the intersection is shorter than a predetermined distance, and when the change determination unit determines that the host vehicle should change the travel lane to the other lane, and the road determination unit determines that the road between the position of the host vehicle and the junction or the intersection meets the road conditions, the guide unit provides the guidance to change the lanes ahead of a point meeting the road conditions when the distance from the point meeting the road conditions to the junction or the intersection is longer than the predetermined distance, wherein meeting the road conditions includes the presence of either a lane-change restricted zone, a merging point, a branching point, a curve, or a tunnel.