Vehicle with an occupant safety system includes an occupant safety system designed to reduce injury to an occupant during an accident involving the vehicle and a processor coupled to the safety system and that receives at least one inertial property of the vehicle and information about a portion of a road ahead of the vehicle in its travel direction. If the processor determines, based on the at least one inertial property and the information, that the vehicle is unlikely to safely travel that portion of the road, the processor initiates action to ensure safe travel of the vehicle or safety of the occupant. The inertial property of the vehicle may be provided by an inertial measurement unit (IMU) that measures acceleration in three orthogonal directions and angular velocity about three orthogonal axes, all at a substantially common location. The occupant safety system may include one or more inflatable airbags.