In recent years, intelligent vehicles like autonomous vehicles generate a huge amount of sensing data continuously. The computations on those data streams are far beyond the processing capacity of on-board computing. To deal with the streaming data process in real-time, the deployment of streaming data processing system by edge turns to the first choice in terms of performance. However, the existing frameworks cannot satisfy the complicated demands from autonomous driving tasks and lack the ability in supporting the task priority scheduling. In this paper, we propose a streaming data priority scheduling framework for autonomous driving by edge on Spark Streaming and make an implementation on Spark 2.3.0. The proposed framework can identify the priorities among different data processing tasks and implement the task scheduling based on non-preemptive priority queuing theory. To meet differentiated service level requirements, the proposed non-preemptive priority queuing scheduling mechanism considers the priority category of tasks, the distance between vehicles and edge nodes, and the priority weight of vehicles. Experiments show that this mechanism can effectively identify the priority information of different tasks from different vehicles and reduce the end-to-end latency of high-priority tasks by up to 46% than low-priority tasks.