This paper proposes an edge server deployment strategy based on multi-agent reinforcement learning (CKM-MAPPO) to address the multi-objective optimization problem in a vehicle networking environment. CKM-MAPPO focuses on optimizing the load balancing among edge servers and minimizing edge servers’ delay and energy consumption. Firstly, the Canopy and K-means algorithms determine the edge server deployment’s number and initial location. Then, we utilize the multi-agent reinforcement learning algorithm to decide the optimal deployment location of the edge server. We performed a series of tests, and the experimental results show that CKM-MAPPO improves load balancing by 26.5% and reduces delay and energy consumption by 12.4% and 17.9%, respectively.