A simple batch file will do this:
taskkill /F /IM WebDev.WebServer.exe
START /D "C:\Program Files\Common Files\microsoft shared\DevServer\9.0\" /B WebDev.WebServer.EXE /port:5002 /path:"$PROJECT PATH" /vpath:"/PROJECT"
Replace $PROJECT with the local path of your web solution.
The VPATH value refers to the virtual folder that is used. This can be replaced with just / if your application runs from the web root.
Once saved into a batch file, this could be dropped into your start up folder to launch on every reboot.
Respect goes to XNeuron for the lead on this one.