The method of an autopilot design for bank to turn hypersonic cruise vehicle in which there is serious cross-coupling between the pitch and yaw channels was presented. The cross-coupling decreased with a PI pre-compensator matrix designed by the Nyquist array method, a main controller was then designed for the approximately decoupled system to meet the desired dynamic performance and stable accuracy. The physical concept of design method is clear and the autopilot has the characteristic of simple structure. The simulation demonstrates that, as for the compensated system, the cross-coupling is obviously reduced, and also shows that the autopilot has high tracking performance and robustness.