https://docs.docker.com/articles/networking/#ipv6 has more of the details (and the discussion at https://github.com/docker/docker/pull/8947#discussion_r22534... is also useful)
Basically, we can't use existing router advertisements (as I understand it) because you also have to tell your current IPv6 router that the entire prefix you use for Docker needs to go to this one host as opposed to just the one IPv6 address that host would auto-assign itself via RA.
Since there's manual outside-Docker setup involved, we can't really automate this bit. If there's a nice clean way to do so, we're definitely open to a PR (I'd love to have something simpler myself)! :)