How to load a filter driver programatically? (revised)

Sorry that I haven’t finished explain my situation.

I tried CreateService to install my TDI filter driver, no matter StartType
= SERVICE_BOOT_START, SERVICE_SYSTEM_START, SERVICE_AUTO_START, even
SERVICE_DEMAND_START, it simply does not work. My driver now can only work
when there is a GUI calling the driver function explicitly, but not
everytime the Windows start.

Actually which StartType should I use?
Is it I need to set other parameters like Dependencies=TCPIP?
Any other essential parameters I have missed?