In recent years, China has promoted a series of legal norms to reduce the environmental impact of air pollutants from vehicles. The three main vehicle emission species (carbon monoxide, hydrocarbons, nitrogen oxides) contribute significantly to air pollution. In this study, the emission factor method was used to estimate air pollutants from vehicles in 31 provinces from 2006 to 2016. The results show a trend of total vehicle carbon monoxide (CO) and hydrocarbons (HC) emissions decreasing with time; the vehicle nitrogen oxides (NOx) emission trend is divided into two stages: an upward trend between 2006 and 2012 and a downward trend after 2012. Based on a panel threshold, a regression method was used to divide the vehicle NOx and CO emissions in China into four emission zones: low emissions, medium emissions, high emissions, and extra-high emissions. Vehicle HC emissions were divided into three emission zones, which corresponded to low emissions, medium emissions, and high emissions. Overall, vehicle pollution emission efficiency and per capita GDP have a significant inhibitory effect on the three main air pollutants from vehicles (NOx, HC, CO). Both passenger and freight turnover have significant roles in promoting the three air pollutants from vehicles (NOx, HC, CO). Road density and road carrying capacity have a significant role in promoting vehicle HC and CO emissions. Increasing truck proportion inhibits vehicle CO emissions and promotes vehicle NOx emissions. The urbanization rate has a positive effect on vehicle HC and CO emissions. Moreover, there is obvious heterogeneity in different emission zones of the three air pollutants from vehicles (NOx, HC, CO).