The bang-bang control type of bank angle solution is discussed in many studies that address the Mars entry guidance problem for the maximum terminal altitude. Based on existing evidence, this paper proposes a novel entry guidance method that can generate a suboptimal entry trajectory governed by a predetermined bank angle profile designed to reflect bank rate constraint and crossrange control. This converts the original entry optimization problem into a parameter optimization problem with four time variables that need to be determined. Since the minimum terminal velocity problem has the similar necessary condition of optimality as the maximum terminal altitude problem, the predetermined bank angle profile can also be applied to the minimum terminal velocity problem. The entry phases of Mars robotic and human missions are adopted as examples to verify the performance of the proposed guidance method. Simulation results demonstrate that the proposed guidance method can generate a suboptimal entry trajectory at which the final state is comparable to that of a nonlinear programming solver. Importantly, the proposed guidance method demonstrates high computational efficiency so that it can be implemented as an onboard guidance method.