One focus of current vehicle research is on the development of evasive pedestrian protection systems. Such safety systems avoid an imminent collision with a pedestrian by performing an evasive maneuver autonomously within the lane. For this purpose, a new lateral control scheme is proposed in this paper. The main idea is to ensure a lane-keeping evasive maneuver exploiting the free space optimally within the lane by controlling the vehicle's front left corner on an evasive trajectory ending up on the center line. Hence, a nonlinear model beyond the state of the art describing the dynamics of a lateral displaced point at the vehicle front as well as its lateral deviation to a defined trajectory is developed. Based on this model, the method of input-output linearization is used to design a lateral control system to ensure a precise track guidance. Furthermore, experimental results are presented.