{"id":"CVE-2026-71640","details":"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","modified":"2026-10-21T03:01:27.994203256Z","published":"2026-09-10T00:00:00Z","database_specific":{"cna_assigner":"mitre","osv_generated_from":"https://github.com/CVEProject/cvelistV5/tree/main/cves/2026/71xxx/CVE-2026-71640.json"},"references":[{"type":"WEB","url":"https://gist.github.com/DongJiaxin0422/cbb657769220e3bc247a4ab9ed37bb4f"},{"type":"ADVISORY","url":"https://github.com/CVEProject/cvelistV5/tree/main/cves/2026/71xxx/CVE-2026-71640.json"},{"type":"ADVISORY","url":"https://nvd.nist.gov/vuln/detail/CVE-2026-71640"},{"type":"REPORT","url":"https://github.com/ZJU-FAST-Lab/EGO-Planner-v2/issues/61"},{"type":"PACKAGE","url":"https://github.com/ZJU-FAST-Lab/EGO-Planner-v2"}],"affected":[{"ranges":[{"type":"GIT","repo":"https://github.com/zju-fast-lab/ego-planner-v2","events":[{"introduced":"0"},{"last_affected":"5c99a95880401e2599638d567abc0e240396cb42"}],"database_specific":{"extracted_events":[{"range":[{"introduced":"0"},{"last_affected":"5c99a95880401e2599638d567abc0e240396cb42"}],"source":"DESCRIPTION"}]}}],"database_specific":{"source":"https://storage.googleapis.com/cve-osv-conversion/osv-output/CVE-2026-71640.json"}}],"schema_version":"1.9.0","severity":[{"type":"CVSS_V3","score":"CVSS:3.1/AV:N/AC:L/PR:N/UI:N/S:U/C:H/I:N/A:H"}]}