Vehicle guided on a railway track comprising a chassis and at least one wheel assembly interconnected to the chassis comprising a. a cross-member having i. a first end to which a first hub is interconnected by a first steering joint swiveling abouta firststeering axis arranged in a vertical manner, ii. a second end to which a second hub is interconnected by a second steering joint swiveling about a second steering axis arranged in a vertical manner, and b. a first wheel attached to the first hub rotatable around a first rotation axis and a second wheel attached to the second hub rotatable around a second rotation axis, c. the first and the second wheel (13,14)each comprise a rolling surface which during operation interacts with a rail of a railway track by a supporting area, wherein the center distance between each steering axis and the center of the related supporting area is within a maximum distance of 0.1m, and d. a first sensor to determine the lateral position of the first sensor with respect to the rail, i. said first sensor being attached to the first hub, ii. said first sensor being arranged with respect to a direction of travel in front of the supporting area of the first wheel in a horizontal direction spaced a distance A1 apart with respect to the center of the respective supporting area,wherein the distance A1 is in the range of 0.1-1.2m e. an actuator interconnected to at least one of the first and the second wheel (13,14) to swivel the at least one interconnected wheel (13,14) around the respective steering axis by a steering angle, wherein f. the first sensor is interconnected to the actuator by a control unit which calculates a steering angle for the at least one interconnected wheel (13,14) depending on the determined position of the first sensor. a. a cross-member having i. a first end to which a first hub is interconnected by a first steering joint swiveling abouta firststeering axis arranged in a vertical manner, ii. a second end to which a second hub is interconnected by a second steering joint swiveling about a second steering axis arranged in a vertical manner, and i. a first end to which a first hub is interconnected by a first steering joint swiveling abouta firststeering axis arranged in a vertical manner, ii. a second end to which a second hub is interconnected by a second steering joint swiveling about a second steering axis arranged in a vertical manner, and b. a first wheel attached to the first hub rotatable around a first rotation axis and a second wheel attached to the second hub rotatable around a second rotation axis, c. the first and the second wheel (13,14)each comprise a rolling surface which during operation interacts with a rail of a railway track by a supporting area, wherein the center distance between each steering axis and the center of the related supporting area is within a maximum distance of 0.1m, and d. a first sensor to determine the lateral position of the first sensor with respect to the rail, i. said first sensor being attached to the first hub, ii. said first sensor being arranged with respect to a direction of travel in front of the supporting area of the first wheel in a horizontal direction spaced a distance A1 apart with respect to the center of the respective supporting area,wherein the distance A1 is in the range of 0.1-1.2m i. said first sensor being attached to the first hub, ii. said first sensor being arranged with respect to a direction of travel in front of the supporting area of the first wheel in a horizontal direction spaced a distance A1 apart with respect to the center of the respective supporting area,wherein the distance A1 is in the range of 0.1-1.2m e. an actuator interconnected to at least one of the first and the second wheel (13,14) to swivel the at least one interconnected wheel (13,14) around the respective steering axis by a steering angle, wherein f. the first sensor is interconnected to the actuator by a control unit which calculates a steering angle for the at least one interconnected wheel (13,14) depending on the determined position of the first sensor.