We have had the exact same problem for the past year with our dog. We\'ve just stayed on top of our leadership (we combine Cesar and Brad methodologies, depending upon the moment) and it\'s hard work, but she doesn\'t get away with anything! Nothing is for free in our house. If she wants out, she has to sit. If she wants supper, she has to sit... etc. At the dog park, she\'s AWESOME! No leash, right?

With a leash on, she used to look like a raving idiot!

The martingale collar made a HUGE difference! We have so much more control. When she starts winding up, the leash goes up, the collar tightens, and when she relaxes, we loosen the leash as well. We also use a combination of the toe tap, switching directions, voice reminders (hey! Shht!) depending upon each situation. We\'ve gotten to know her so well, that we can judge what level of excitement she\'s at, and correct accordingly. The biggest thing for us was to learn to correct CALMLY! Firmly, but not yelling and yanking.
It\'s been a PILE of work, and it never ends. We still spend our days teaching her to be calm. (No chasing the bugs all over the yard endlessly, no barking at the neighbours dog over and over, no running mindlessly all over the yard) We exercise her alot so that she\'s happy and fulfilled. We\'re also trying to work on her training, and raise two kids! (and deal with an aging second dog)
Now having said all of that, I have to report that we have come so far with her that we were able to take her to our Canada Day celebrations this year! Woo hoo! It\'s outside in one of our city parks with tons of people, other dogs and commotion and she ROCKED! She was so chilled and laid back! Kids were coming up and petting her all the time (people have never been a problem for her), we passed tons of other dogs (some she got to visit, others she had to live with just walking by). We even had one person stop and visit with her and comment on how sweet she was and what a nice temperament she has! I could have burst with pride!
This morning, I had to pass two dogs on leashes coming at us head on (and yes, of course THEIR dogs were leading and pulling) and I didn\'t have a problem. She got a little excited (which she got corrected for), but it was a happy sound, not an \"I want to eat you\" sound.
I don\'t know if this helps, but I just wanted to let you know that what you describe is EXACTLY what we\'ve been through! And we\'re finally reaching the point where we can take our dog anywhere with us without a bunch of stress!
Brad\'s book and TV show helped tremendously as does Cesar Millan\'s DVD\'s (or show if you get the National Geographic Channel)
Let me know if I can offer any more advice! Hope this helps!