"emergency recall" is another useful skill/command.  google "really reliable recall" or look here in the FAQ.  We had success with that without much effort:

pick a special "magic word" that dog never hears in casual conversation, don't overuse it, do refresher training.  Use the 'capturing' principle:  introduce it only when you KNOW the dog is gonna come running, no matter what yu do.  Lavish special rewards and praise (Al & Gwynn think "Venite!" means "bacon!").  Not your routine recall; this is for when doggo is about to chase a porcupine across the freeway traffic.  You want this to be the most fun command/game.

Al & Gwynn will actually forget their soccer ball and come running at this word.