[chipperdancing]

I think they go through stages. But, one thing you said ... "He doesn't come when I call him ..." ~ I really think it could be a matter of life or death, that's how important it is to teach him two things. To Come and to Stay. And both are really easy to train. Just get him a little (cat?) halter and longggg (15'-20') thin clothesline rope. Always say his name, "Winston, come!", repeatedly until he does. Then just put him down and say, "Winston, stay!" and walk away ... repeatedly until he does. Only takes a few times over a few days.
Once he knows these two commands ... he won't jump out of a car unexpectedly and possibly be run over, he won't (well ... he might) take off down the road, he'll come back!