---
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: 0.00632
epssPercentile: 0.48028
exploitAvailable: true
ssvc:
  exploitation: poc
  automatable: 'yes'
  technicalImpact: partial
  timestamp: '2026-09-14T16:09:10.910432Z'
ingestedAt: '2026-09-11T16:45:48.021Z'
---

## Overview

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

## Remediation

Refer to the linked advisories for vendor-supplied fixes and affected version ranges.