diff --git a/utils/collision_detection.py b/utils/collision_detection.py
new file mode 100644
index 0000000000..4e06af87fe
--- /dev/null
+++ b/utils/collision_detection.py
@@ -0,0 +1,39 @@
+"""
+    This module contains utility functions for collision detection
+"""
+
+from enum import Enum
+import numpy as np
+
+
+class PointPosition(Enum):
+    LEFT = -1
+    ON_LINE = 0
+    RIGHT = 1
+
+
+def cal_point_orientation_to_line(point, line_start, line_end):
+    """
+    Calculate the orientation of a point with respect to a line segment.
+
+    Args:
+        point (tuple): The point to check (x, y).
+        line_start (tuple): The start point of the line segment (x1, y1).
+        line_end (tuple): The end point of the line segment (x2, y2).
+
+    Returns:
+        PointPosition: The position of the point relative to the line segment.
+    """
+    x1, y1 = line_start
+    x2, y2 = line_end
+    x0, y0 = point
+
+    # Calculate the cross-product
+    cross_product = (x2 - x1) * (y0 - y1) - (y2 - y1) * (x0 - x1)
+
+    if cross_product > 0:
+        return PointPosition.LEFT
+    elif cross_product < 0:
+        return PointPosition.RIGHT
+    else:
+        return PointPosition.ON_LINE