The invention discloses an intelligent vehicle and a wheel edge driving device thereof, and relates to the technical field of intelligent vehicles, the intelligent vehicle comprises a mounting plate, the outer side of the mounting plate is fixedly connected with a damping mechanism, the lower end of the damping mechanism is provided with a driving mechanism, and the output end of the driving mechanism is provided with wheels. The invention provides the damping mechanism, the driving mechanism, the lifting mechanism and the damping mechanism, the driving system of the intelligent vehicle is designed into the four-wheel-drive four-rotation intelligent vehicle adopting the wheel-side motor device as the driving system, the wheel-side driving system is simple in structure and convenient to produce and manufacture, the wheel base of the whole wheel-side driving device is shortened through the design, and the service life of the whole wheel-side driving device is prolonged. The weight and the overall size of the wheel edge driving device are reduced on the premise that the dynamic property, the economical efficiency and the smoothness are guaranteed, meanwhile, the buffering mechanisms are additionally arranged at the front end and the rear end of the vehicle body, the buffering protection effect is achieved, equipment and devices of an intelligent vehicle can be placed on the carrying plate, and the height is controlled and adjusted through the lifting mechanism.