With rapid development of the electric vehicle (EV) industry, charging infrastructures are built fast. However, the unreasonable deployments with increasing EVs contribute to a long queuing time for charging demand of EVs, especially in the peak hours. How to navigate a specific EV to economically satisfy its charging demand, while relieve the traffic burden, is an urgent problem. To address that, a price incentive-based charging navigation strategy for EVs is proposed. Unlike previous charging navigation studies that mainly focus on the EVs-transportation-power systems modeling, it considers the spatial-temporal influence of EVs’ charging decision, especially the simultaneous charging requests. Specifically, the charging navigation framework with the collaborative working mode of EV-charging station-information exchange center-intelligent transportation system is established first. Following this, spatiotemporal distribution of the charging demand is obtained through the origin–destination analysis. After this, an event-driven dynamic queue model is constructed. It contributes to the modeling of the charging strategy, together with the proposed reservation opportunity cost mechanism. Finally, the simulation results indicate that the presented charging navigation strategy can not only reduce the EV's charging cost but also improve the utilization rate of charging facilities, which verify its effectiveness.