Here's what I would do and I hope this helps you out. first get the dog to sit, fast on command. You can use treats for this if the dog's keen for them.
Next is to teach the "look" comand so the dog looks you in the eyes. You might want a "halti" type headcollar that fastens under the dogs chin for this and as a bonus this'll help control any pulling. Again, "look" can be reinforced with treats if the dogs keen for them.
Now down to it. At some point as you see a person or dogwalker approach in the distance or you approach a yard with a barking dog, your own dog is going to start to