The present disclosure relates to a method for generating a panoramic surround view image of a vehicle, comprising: acquiring actual original images of external environment of a first part and a second part of the vehicle hinged to each other; processing the actual original images to obtain respective actual independent surround view images of the first part and the second part; obtaining coordinates of respective hinge points of the first part and the second part; determining matched feature point pairs in the actual independent surround view images of the first part and the second pan; calculating a distance between two points in each matched feature point pair accordingly, and taking matched feature point pairs with the distance less than a preset first threshold as a successfully matched feature point pairs; and taking a rotation angle corresponding to the maximum number of the successfully matched feature point pairs as a candidate rotation angle of the first part relative to the second part. The present disclosure further provides a device for generating a panoramic surround view image of a vehicle and an intelligent vehicle.