Hydrogen fuel cell vehicle development is a strategic core element for the country to deepen its energy transformation. This article focuses on the development of a hydrogen fuel cell-powered cargo truck prototype, based on national regulations and market feedback. Through theoretical analysis and mathematical calculations of the physical characteristics of the traditional vehicle model, typical characteristic parameters of the prototype’s powertrain components were determined. Based on the calculation results, key components of the fuel cell powertrain system were matched and selected. To address the issue of frequent starting of the hydrogen fuel engine during driving, a fuzzy control strategy was employed for engine start-stop control. The working output power of the hydrogen fuel engine was determined using two characteristic parameters: accelerator pedal opening and current battery charge level. The control effect was evaluated using the Matlab/Simulink simulation. The results indicate that the selection and matching were effective, and the fuzzy control strategy successfully met the initial development objectives. During the vehicle field testing phase, the prototype was subjected to tests by national testing agencies based on mandatory regulations. The experimental results confirmed the consistency of the simulation calculation parameters, providing important support for the subsequent research and engineering application of hydrogen fuel cell truck range extension.