Lots of great advice here!
Just don't be too hard on yourself, what you went through was really scary and you just reacted. It's good that you're thinking about what to do if it happens again, because things do have a way of happening. Even so, Ginger and I have worked on "touch" and "come" and I believe she knows it really well, but don't want to test it out beside a busy street, you must have been really scared!
Also, consider taking a look for a good positive trainer in your area and take some classes. If you stick with it you'll find it very helpful.