Vehicle including sensors one of which is a motion-detecting crash sensor, a processing module for processing data generated by the sensors, the module being separate from most if not all of the sensors, and a data bus coupling the sensors and the module together and enabling transfer of data from the sensors to the module. Each sensor may be mounted at a different location on the vehicle and arranged to provide a measurement related to a time-varying state of the sensor or a measurement related to a time-varying state of the mounting location. A deployable occupant restraint may be arranged to deploy to protect an occupant of the vehicle during a crash involving the vehicle. The module determines deployment of the occupant restraint based on the diagnosed state of the vehicle.