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1. An obstacle detection system of a vehicle, the obstacle detection system comprising: a driving information unit configured to calculate driving position information of the vehicle; a determiner configured to anticipate whether the vehicle will enter a joining point where the vehicle meets a target road to be joined based on the driving position information calculated by the driving information unit; a sensing unit configured to sense obstacles located beside the vehicle; and a controller configured to change a sensing range of the sensing unit so as to detect an obstacle moving on the target road to be joined, in response that the determiner anticipates that the vehicle will enter the joining point, wherein the driving information unit is further configured to calculate a lane width of the target road to be joined based on information about the target road to be joined, calculated by the driving information unit, and wherein the controller is further configured to extend a lateral width of the sensing range based on the lane width of the target road to be joined, calculated by the driving information unit.
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