{"id":"CVE-2026-71640","title":"An issue in ZJU-FAST-Lab EGO-Planner-v2 All versions up to commit 5c99a95880401e2599638d567abc0e240396cb42 allows unsafe vehicle motion via improper handling of expired trajectory data in the replanning pipeline","summary":"An issue in ZJU-FAST-Lab EGO-Planner-v2 All versions up to commit 5c99a95880401e2599638d567abc0e240396cb42 allows unsafe vehicle motion via improper handling of expired trajectory data in the replanning pipeline","severity":"critical","cvss":9.1,"cvssVector":"CVSS:3.1/AV:N/AC:L/PR:N/UI:N/S:U/C:H/I:N/A:H","cwe":["CWE-703"],"published":"2026-09-10","updated":"2026-09-22","sourceUpdated":"2026-09-22T20:00:03.713","source":"NVD","sourceUrl":"https://nvd.nist.gov/vuln/detail/CVE-2026-71640","references":[{"url":"https://gist.github.com/DongJiaxin0422/cbb657769220e3bc247a4ab9ed37bb4f","label":"cve@mitre.org"},{"url":"https://github.com/ZJU-FAST-Lab/EGO-Planner-v2","label":"cve@mitre.org"},{"url":"https://github.com/ZJU-FAST-Lab/EGO-Planner-v2/issues/61","label":"cve@mitre.org"},{"url":"https://github.com/ZJU-FAST-Lab/EGO-Planner-v2/issues/61","label":"134c704f-9b21-4f2e-91b3-4a467353bcc0"}],"tags":["nvd","cve.org","exploit-available"],"epss":0.00448,"epssPercentile":0.38332,"exploitAvailable":true,"ssvc":{"exploitation":"poc","automatable":"yes","technicalImpact":"partial","timestamp":"2026-09-14T16:09:10.910432Z"},"ingestedAt":"2026-09-11T16:45:48.021Z","slug":"CVE-2026-71640","body":"## Overview\n\nAn issue in ZJU-FAST-Lab EGO-Planner-v2 All versions up to commit 5c99a95880401e2599638d567abc0e240396cb42 allows unsafe vehicle motion via improper handling of expired trajectory data in the replanning pipeline\n\n## Remediation\n\nRefer to the linked advisories for vendor-supplied fixes and affected version ranges.","depth":"abyssal","depthScore":62,"depthScoreParts":{"impact":50.1,"likelihood":0.1,"exploitation":12,"ransomware":0},"changes":[{"seq":203063,"id":"CVE-2026-71640","ts":1789409571972,"field":"exploit_available","old":"false","new":"true"},{"seq":203062,"id":"CVE-2026-71640","ts":1789409571972,"field":"cvss","old":null,"new":"9.1"},{"seq":203061,"id":"CVE-2026-71640","ts":1789409571972,"field":"severity","old":"none","new":"critical"}]}