1. A vehicle navigation system provided with guidance target storing means for storing information about guidance target points, which is extracted from information about a preset route extending from a current position of a vehicle to a destination and which is based on map information, and guidance means for providing guidance on said route by voice or with display, said system comprising: road-between-guidance-target-points configuration determining means for determining a configuration of a road between two successive guidance target points whose information is extracted from the information stored in said guidance target storing means; continuous guidance threshold distance setting means for setting a threshold distance for continuous guidance based on the road configuration determined by said road-between-guidance-target-points configuration determining means; distance-between-guidance-target-points calculation means for calculating a distance between the two successive guidance target points whose information is extracted from the information stored in said guidance target storing means; and route guidance means for providing continuous guidance through said guidance means when the calculated distance between the two successive guidance target points is shorter than the threshold distance for continuous guidance set by said continuous guidance threshold distance setting means.