Just let him cry and ignore him. If he stops crying, praise him for good behavior. Make your trips increasingly longer, until he is comfortable with the idea of traveling. To get your cat used to a crate, place the crate in your home in an area he frequents. Leave the door open for several days.
Cats love to investigate.
Hopefully, he will investigate it and claim it as his own. While he is checking the crate out, be careful not to bump the crate or do anything to make the cat wary of it. You can also try placing his food or a special treat inside the door of the crate. Finally, over time, get so you can actually latch the door. Let him out as soon as he wants out.