By leveraging electric vehicles (EVs) and other flexible resources in the distribution network, load restoration can be achieved during faults. With the emergence of autonomous electric taxis, more flexible control strategies for EVs have become possible. Against this background, this paper proposes a vehicle-grid cooperative power supply restoration method based on highly controllable EVs. First, a coupled model of road network and power grid is established, with specific modeling of the road network. Second, considering EV mobility constraints on the road network and charging/discharging constraints at V2G stations, a flexible EV dispatch control model is developed. Then, based on the operational constraints and topological constraints of the distribution network, a network reconfiguration and restoration model using flexible resources is constructed. Finally, a mixed-integer linear programming (MILP) model for vehicle-grid cooperative restoration is formulated with the objective of minimizing economic losses during faults. The proposed method is tested on a 33-node power grid and 28-node road network case study, and comparative schemes are designed to verify its superiority.