The invention discloses a steering device for a vehicle and the vehicle. The steering device for the vehicle comprises first transmission devices and first driving devices. Each first transmission device comprises a transmission belt wheel and a steering shaft. Each transmission belt wheel is connected with the corresponding steering shaft. Each steering shaft is used for driving a wheel assembly to make a turn. Each first driving device is connected with the corresponding transmission belt wheel and used for driving the transmission belt wheel to rotate so that the corresponding steering shaft can be driven to rotate, and thus the corresponding wheel assembly is driven to make a turn. According to the steering device for the vehicle, the steering shafts used for driving the wheel assemblies to make a turn can rotate by driving the transmission belt wheels to rotate through the first driving devices, then independent steering of the wheel assemblies can be achieved, and therefore, using of the differential steering technology can be avoided through the steering device; and in addition, in-situ rotation and any-angle horizontal movement of the vehicle can be achieved, and the space required by the vehicle during steering is small. The vehicle comprises the steering device for the vehicle.