# CVE-2026-71640

## Summary

- **CVE ID:** CVE-2026-71640
- **Severity:** CRITICAL
- **CVSS Score:** 9.1 (CVSS:3.1/AV:N/AC:L/PR:N/UI:N/S:U/C:H/I:N/A:H)
- **CWE:** N/A
- **Published:** Sep 10, 2026
- **Last Modified:** Sep 14, 2026

## Description

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

## Affected Products

- n/a — n/a (n/a)

## References

- [CNA](https://github.com/ZJU-FAST-Lab/EGO-Planner-v2)
- [CNA](https://github.com/ZJU-FAST-Lab/EGO-Planner-v2/issues/61)
- [CNA](https://gist.github.com/DongJiaxin0422/cbb657769220e3bc247a4ab9ed37bb4f)

## Exploitation Prediction (EPSS)

- **EPSS Score:** 0.45%
- **EPSS Percentile:** 38.2

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_Exported from OnDuty AI Vulnerability Intelligence on 2026-09-18._