Run the Docker bootstrap instance under upstart

Separating “bootstrap” instance of the Docker daemon for using flannel to set up networking between Docker daemons(source http://kubernetes.io/docs/getting-started-guides/docker-multinode/master/).
But the bootstrap instance is missing after reboot.
It likely to run the bootstrap script under upstart.
If I need to add the bootstrap script to the /etc/init/docker.conf.

os : ubuntu 14.04
docker version : 1.11.2
bootstrap script :
sudo sh -c ‘docker daemon -H unix:///var/run/docker-bootstrap.sock -p /var/run/docker-bootstrap.pid --iptables=false --ip-masq=false --bridge=none --graph=/var/lib/docker-bootstrap 2> /var/log/docker-bootstrap.log 1> /dev/null &’