Is there an anonymous non-interactive authorisation scheme with peer-side auth. signature generation?
I could solve my question using the fundamental work of Eric Verheul: Self-Blindable Credential Certificates from the Weil Pairing.

What I didn't know was the basic principle of self-blinding. In its simplest form, a peer (sk: $x\in Z$, pk: $X=g_1^x\in G_1$) communicates with an authority (sk: $a\in Z$, pk: $A=g_2^a\in G_2$) to get a certificate for his pk. cert: $C=X^a \in G_1$.
Now the peer is able to self blind his public key and the certificate using a random $k \in_R Z$:  $X_b=X^f\in G_1$; $C_b=C^k \in G_1$. This can be verified using $e(X_b,g_2)=e(C_b,A)$ which is $e(g_1^{axf},g_2)=e(g_1^{xf},g_2^a)$.

To add authorisation, a hash of the authorisation information $c=hash(Authorisation Information)$ can be included: $C=X^{a+c}$. Now the verifier needs to recalculate $c=hash(..)$ to verify the authorisation: $e(X_b,g_2)=e(C_b,A \cdot g_2^c)$.

(Just for the record: this example is not secure, since the peer could remove its key from the certificate and then sign any other PK too.)