A failure diagnosis apparatus for a vehicle is disclosed. The apparatus includes a diagnosis processing section for executing failure diagnosis processing on a device of the vehicle to generate a diagnosis result. The apparatus also includes a data managing section for managing data of the diagnosis result. After an execution condition is met for failure diagnosis, the diagnosis processing section outputs an execution demand to the data managing section for the failure diagnosis processing. In response to the execution demand, the data managing section outputs an execution permission to the diagnosis processing section for the failure diagnosis processing. Also, after the execution condition is met for the failure diagnosis, the diagnosis processing section starts executing the failure diagnosis processing regardless of whether the execution permission has been outputted by the data managing section. A method of failure diagnosis is also disclosed.