Aiming at the problem of hypersonic morphing vehicle with multiple sweep angles avoiding no-fly zones to reach a target, an improved predictor–corrector guidance method is proposed. Firstly, the aircraft motion model is established. Then the Q-learning method is used to design the command of attack angle and sweep angle to ensure that the aircraft can fly over the low-altitude no-fly zone in the longitudinal trajectory. Next, B-spline curve is used to design the location of flight path points so that the aircraft can fly around to avoid high-altitude threat areas. Finally, the value and symbol of the bank angle are designed according to the predictor–corrector method, and the lateral guidance command are obtained to ensure that the aircraft can reach the target safely. Simulation results verify the effectiveness of the proposed algorithm.