The invention concerns a vehicle guided on a railway track comprising a chassis and at least one wheel assembly interconnected to the chassis and a method for steering said vehicle. The wheel assembly comprises a cross-member having a first end to which a first hub is interconnected by a first steering joint and a second end to which a second hub is interconnected by a second steering joint. A first wheel is attached to the first hub rotatable around a first rotation axis and a second wheel is attached to the second hub rotatable around a second rotation axis. A first sensor determines the lateral position of the first sensor with respect to the rail. The first sensor is attached to the first hub and is, with respect to a direction of travel arranged in front of the supporting area of the first wheel in a horizontal direction spaced a distance A1 apart. The first sensor is interconnected to an actuator by a control unit which calculates a steering angle for the at least one interconnected wheel depending on the determined position of the first sensor.