The invention relates to a vehicle (1) for driving on stairs (7) or a ramp. In a first operating mode intended for substantially flat ground, said vehicle can be driven by one or more wheels (2), and in a second operating mode intended for driving on stairs (7) or a ramp, said vehicle can be driven by means of a tracked running gear or caterpillar running gear (6) having a wrap-around element (9). The vehicle has a stairstep sensor (17, 23, 29, 31, 33), which senses a stairstep edge (8) or ramp edge.