You cannot use auto layout on iOS 5. It's that simple. iOS 5 simply doesn't have the auto layout classes, so your app will get errors at run time when you launch it on an iOS 5 device.
You need to turn off auto layout in your xibs and storyboards, set the springs and struts, and write layoutSubviews
or viewDidLayoutSubviews
as necessary to lay out your views properly.
Since you will have to make your app work without auto layout, there's probably no point in also making your app use auto layout when it is available. Trying to use auto layout only on some devices will mean more code, more testing, and more confusion. Either change your deployment target to iOS 6.0 and just use auto layout, or use the old layout system on all versions of iOS.