Hydrogen fuel cell vehicles (HFCVs) are a promising technology for reducing vehicle emissions and improving energy efficiency. Due to the ongoing evolution of this technology, there is limited comprehensive research and documentation regarding the performance of HFCVs. To address this void, the paper develops a simple HFCV energy consumption model using new fuel cell efficiency estimation methods. The suggested energy efficiency model employs real-time vehicle speed, acceleration, and roadway grade as input parameters for calculating instantaneous hydrogen energy consumption rates, battery energy consumption, and total energy consumption. The results suggest that the model's forecasts align well with real-world data, demonstrating average error rates of 0.0% and -0.1% for fuel cell energy and total energy consumption across all four cycles. However, it was observed that the error rate for a particular cycle, such as the UDDS, can be as high as 13.1%. Moreover, the study confirmed the reliability of the suggested model through validation with independent data. The findings indicated that the proposed model precisely predicted energy consumption, with an error rate of 6.7% for fuel cell estimation and 0.2% for total energy estimation compared to empirical data. Additionally, instantaneous SOC predictions from the model closely match observed instantaneous SOC measurements, highlighting the model's effectiveness in estimating real-time changes in the battery SOC. The study investigated the energy impact of various intersection controls to assess the applicability of the proposed energy model. The simplicity of the proposed model enables easy estimation of energy consumption using traffic simulation models.