diff --git a/classes/Car.js b/classes/Car.js
index eb3fabe..c445356 100644
--- a/classes/Car.js
+++ b/classes/Car.js
@@ -187,6 +187,30 @@ export class Car {
         ctx.restore();
     }
 
+    /**
+     * Returns the world coordinates of the car's four corners
+     * accounting for its current rotation.
+     * @returns {{x:number, y:number}[]} Array of 4 corner points
+     */
+    getCorners() {
+        const w2 = this.width / 2;
+        const h2 = this.height / 2;
+        const sin = Math.sin(this.angle);
+        const cos = Math.cos(this.angle);
+
+        const local = [
+            { x: -w2, y: -h2 },
+            { x:  w2, y: -h2 },
+            { x:  w2, y:  h2 },
+            { x: -w2, y:  h2 }
+        ];
+
+        return local.map(p => ({
+            x: this.x + p.x * cos - p.y * sin,
+            y: this.y + p.x * sin + p.y * cos
+        }));
+    }
+
     /**
      * Creates a deep clone of this car, including its neural network.
      * Used during evolution to preserve elite behavior.
diff --git a/classes/Obstacle.js b/classes/Obstacle.js
index d33ad9e..34e5ce2 100644
--- a/classes/Obstacle.js
+++ b/classes/Obstacle.js
@@ -22,13 +22,48 @@ export class Obstacle {
      * @returns True if the obstacle collides with the car, false otherwise
      */
     collidesWith(car) {
-        //const y = car.y ?? ctx.canvas.height * 0.8; // fixed y draw position
-        return (
-            this.y + this.height / 2 > car.y - car.height / 2 &&
-            this.y - this.height / 2 < car.y + car.height / 2 &&
-            this.x + this.width / 2 > car.x - car.width / 2 &&
-            this.x - this.width / 2 < car.x + car.width / 2
-        );
+        const carCorners = car.getCorners();
+        const obsCorners = this.getCorners();
+
+        const axes = [
+            { x: Math.cos(car.angle), y: Math.sin(car.angle) }, // car width axis
+            { x: -Math.sin(car.angle), y: Math.cos(car.angle) }, // car height axis
+            { x: 1, y: 0 },
+            { x: 0, y: 1 }
+        ];
+
+        for (const axis of axes) {
+            const [cMin, cMax] = this.project(carCorners, axis);
+            const [oMin, oMax] = this.project(obsCorners, axis);
+            if (cMax < oMin || oMax < cMin) {
+                return false; // Separated along this axis
+            }
+        }
+        return true;
+    }
+
+    getCorners() {
+        const x1 = this.x - this.width / 2;
+        const x2 = this.x + this.width / 2;
+        const y1 = this.y - this.height / 2;
+        const y2 = this.y + this.height / 2;
+        return [
+            { x: x1, y: y1 },
+            { x: x2, y: y1 },
+            { x: x2, y: y2 },
+            { x: x1, y: y2 }
+        ];
+    }
+
+    project(points, axis) {
+        let min = points[0].x * axis.x + points[0].y * axis.y;
+        let max = min;
+        for (const p of points.slice(1)) {
+            const val = p.x * axis.x + p.y * axis.y;
+            if (val < min) min = val;
+            if (val > max) max = val;
+        }
+        return [min, max];
     }
 }
   
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