Åka means 'ride' and also 'come', 'go' when the speaker implies using some means of transport (a vehicle, a train, a plane, a boat). It doesn't matter if you are a driver or passenger. This verb is also used when things like rollerblades and skis are involved.
Gå means 'walk on foot' and also 'come', 'go' when walking on foot is implied.
This distinction is very important.
This distinction is basic, it is how speakers of Swedish see the world. Languages have different strategies for describing reality. Perhaps, you would use some phrase, something like vara på väg (be on the way) or ska in questions (Vart ska du? = Where are you going?). However, what is important is that for Swedish the distinction between riding a vehicle and walking on foot is very important, in this respect Swedish is different from English.