I know this one is a little old, but,
yes, finally there is! It’s called ‘lipsyncr’ and it does exactly what you described. (I am one of the developers.) In contrast to the other script mentioned, it does actual speech analysis to create viseme–based animations, just like you would with the manual method.
I don’t want it to look like I am mounting the cow for advertising, so if you are interested, you will find all the infos you need on the web!