1. A route guidance system for a vehicle, comprising: a current-location detecting unit that detects the current location of a vehicle; and a controller that: searches a route to a destination based on the current location; sets a guidance intersection based on the searched route; sets a route guidance point at a predetermined point before the guidance intersection; provides route guidance through the guidance intersection when the vehicle reaches the route guidance point; determines 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; and prevents 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.