D7 equivalent to AutoMenu module
That module has a drupal 7 version in the issue queue at https://drupal.org/node/1138946

Comment #25 has a link to a sandbox of the drupal 7 port: https://drupal.org/sandbox/wojtha/1331132

There is another version in a zip file at comment #46 but it seems that one is inferior.

It seems that it has been reviewed by a few people and works but the module doesn't seem to have an active maintainer so it has not been committed to the repository and made available on the project page.

I would try those versions of the module and see if either of them work.