Abstract For highly automated driving on highways the longitudinal and lateral vehicle guidance is realized by advanced driving assistance systems (ADAS). Until now, these systems usually comprise two separate controllers - one for lateral and one for longitudinal control. This paper presents a new nonlinear control scheme for the next level of ADAS systems which perform both longitudinal and lateral control for automated driving on highways. A nonlinear model is developed taking into account the dynamic behavior of the actuators, i. e. engine, steering, and brake system and the curvature of the road as time-varying parameter. This model is used to design a feedback linearizing controller which decouples lateral and longitudinal dynamics and allows a linear control design. The model states and control design considers that all required signals can be obtained by state-of-the-art hardware of production vehicles.