I cannot relax on walks with my Doberman *****, as she runs in barking at people and dogs coming towards us.?

My Doberman is now 4.5 years old, I have dont everything right, from puppy cles, to socialisation, specific trainers etc all throughout her life. She has always been very wary of people and dogs she doesnt know, especially in quiet woods when they appear unexpectedly and also is very protective of our home and my vehicle. She runs up barking right up to people and even if I give commands to Sit, Stay, Leave it is all to no avail, whereas under normal cirstances she does these things immediately. Has anyone else had problems like this or any further advice, I have had 3 dobies before so know the breed very well.