1. A steering risk decision system, comprising: an obstacle sensor configured to sense an obstacle to generate first sensor data; a driving state sensor configured to sense a driving state of a vehicle to generate second sensor data; and a processor configured to: extract feature points from the first sensor data to indicate the obstacle in point and line shapes; predict a driving region of the vehicle using the second sensor data; calculate a relationship between the vehicle and the obstacle using information for the obstacle indicated in the point and line shapes and information for the driving region; and determine a steering risk of the vehicle based on the calculated result.