Schedule maintenance activities for hydrogen fuel cell vehicles are aimed to keep them in better condition in long-term operation. In this paper, we develop a reinforcement learning based schedule maintenance strategy, which is used to comprehensively consider the balance between safety and maintenance cost, so as to find the optimal maintenance strategy. A multi-level framework is established with remaining useful life of key components, fault tree analysis, and logistics cost model to generate an exploration environment that can express the operational stability, the failure rate of components, and the cost of repair and storage. The trained agent combines a deep neural network to explore the optimal strategy under the dynamic reliability of key components. Finite steps are the constraints. Safety rates, maintenance cost, and episode of operation are incorporated into a multi-objective reward function. The hydrogen supply circuit of fuel cell vehicle is simulated via Python. The trained agent is compared with traditional time-based schedule maintenance strategy and corrective maintenance strategy. The results show that the reinforcement learning based schedule maintenance agent has optimized the total reward, cost control and accident rate by 77%, 59% and 5%, respectively, compared with the traditional time-based schedule maintenance strategy. In the safe operation management of fuel cell vehicles, efficient and stable decision-making ability has been achieved.