The mode you want for driving is going to be LIN (the translation docking mode).
Press the ‘ F’ key to change between LIN and ROT (lower-left corner of the screen). (The “ Insert” key takes you back to normal mode.) Press the “ Delete” key to get into docking mode. Here we set the ‘ W’ and ‘ D’ keys to only work in translation docking mode for driving forward and backwards. You may need to experiment with turning off the middle button. I find that this gives better control for rovers when turning than just setting the A/ D keys to the wheel steering controls. Here, I make them available to all of the modes. The next two keys to adjust are the yaw left/right keys (‘ A’ and ‘ D’ by default). Now when I am in “ LIN” docking mode, these keys will no longer pitch the nose up/down. Notice that I have turned off the middle checkbox labeled “ Docking (Translation)”. The next two keys to adjust are the pitch up/down keys (‘ S’ and ‘ W’ by default). Now, when starting to drive the rover you can use the “ delete” key to switch to docking mode and the ‘ F’ key to switch between the two control modes. 
You should remap that key to something innocent, like the ‘ F’ key.
Start by going into the game settings (first menu when you start KSP) and under the “ Input” screen, on the “ Flight” tab look for a setting called “ Switch Translation/Rotation”. Naturally, that’s dangerous because you might stage at the wrong time. Re-Map Switch Modesīy default the is used for both staging and for switching between the “ LIN” and “ ROT” docking modes. This can easily lead to tip-overs on low gravity worlds or other undesired behavior. By default, the ‘ W’ and ‘ S’ keys will pitch the rover forward and back at the same time you are accelerating / reversing. One of the more annoying things in KSP is trying to control rovers on the surface of a low-gravity planet.
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