CVE-2026-71640
CriticalCVSS 9.1Exploitation Probability (EPSS)
Low risk38th percentile - higher than 38% of all known CVEs
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.
Risk Assessment
Improper handling of expired trajectory data may lead to unsafe vehicle motion, posing a risk to physical safety and property.
Recommendation
Update EGO-Planner-v2 to a version containing the fix or suspend use until it is deployed. Verify the handling logic for expired trajectories in the replanning pipeline.
Other vulnerabilities in EGO-Planner-v2
See all- CVE-2026-71641High
An issue in ZJU-FAST-Lab EGO-Planner-v2 All versions up to commit 5c99a95880401e2599638d567abc0e240396cb42 allows an attacker to cause a denial of service via the interaction between traj_server, poscmd_2_odom, and the EGOReplanFSM emergency recovery logic.
- CVE-2026-71647High
An issue in EGO-Planner-v2, all versions up to commit 5c99a95880401e2599638d567abc0e240396cb42, allows an attacker to cause a denial of service via checkCollisionCallback, execFSMCallback, and planFromGlobalTraj in ego_replan_fsm.cpp.
- CVE-2026-71643High
An issue in ZJU-FAST-Lab EGO-Planner-v2, all versions up to commit 5c99a95880401e2599638d567abc0e240396cb42, allows an attacker to cause a denial of service via the EGOReplanFSM component.
- CVE-2026-71642Medium
An issue in ZJU-FAST-Lab EGO-Planner-v2, all versions up to commit 5c99a95880401e2599638d567abc0e240396cb42, allows an attacker to cause a denial of service via EGOReplanFSM::checkCollisionCallback().
Original NVD description (English source)
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
Vulnerability data from NVD (NIST) · CISA KEV · EPSS