I hope my straight forward answer doesn't offend anyone...
If the vehicle/driver was unauthorised (be it because of airport driving authority restrictions, lack of tower clearance, ill-equipped vehicle etc), then it is a runway incursion.
Furthermore, if the driver isn't trained or authorised to be there, then they will more than likely be disorientated. Trust me, I can get people 'lost' on an airfield during the day with not much effort if they're not used to being there. At night it's even easier.
It is a very dangerous situation for both driver and aircraft.
In terms of driving authority, Sydney has 3 categories of driving authority:
Category 2 for aprons and perimeter roads
Category 3 for Cat 2 + taxiways
Category 4 for Cat 3 + runways (appropriate clearances are necessary for entry to flight strips)
I imagine Mumbai would have a similar system.
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