In this study, we evaluated the fire safety of vehicles that use compressed hydrogen as fuel. We conducted fire tests on vehicles that used compressed hydrogen and on vehicles that used compressed natural gas and gasoline and compared temperatures around the vehicle and cylinder, internal pressure of the cylinder, irradiant heat around the vehicle, sound pressure levels when the pressure relief device (PRD) was activated, and damage to the vehicle and surrounding flammable objects. The results revealed that vehicles equipped with compressed hydrogen gas cylinders are not more dangerous than CNC or gasoline vehicles, even in the event of a vehicle fire.