Hi there, firstly I"m not going to "bash" you because she ran off. Accidents happen although it is up to you as her owner, and the one who loves her, to do everything in your power to ensure she cannot escape..
Doberluv, great advice as always
, and of course to all the other wise people here. Aside from needing professional help with your dog, in the interim, there are simple things you can do to help work on these problems. As stated you need to start some training with your pooch ( if you haven't already) NILIF as already been said, is a great start. Do a search for NILIF, and a world of info will come up. She should not be allowed on furniture, as I'm g uessing she already sees herself above your young children in the "pack."
Your dog needs to be made aware, with positive training and reinforcement, that she is below ALL of your family members in the pack status. This means no furniture, no up on the beds, commands for all actions. You decide when she gets fed, petted, played with. You as the Alpha make the rules. Give her a warm comfortable bed on the floor (below the furniture), that she can call her own, and somewhere she can go for time out from the kids and everyone. Also constant supervision, is always required between young children and dogs. Do not put the kids or the dog in a position where she can snap, or bite at them.
Good luck with your dog