Your dog seems to have a mind of his own and also appears to lack a bit of training. This is a bad combination. I would suggest getting him some training and keeping windows closed
I've had the same thing happen to me.
In fact my toy poodle is an escape artist of great repute. Little bugger will run out a door anytime she can.
Two years ago she got out and ran into the pasture when the horses thought she was a rat and tried to step on her.
I had to get through a barbed wire fence to rescue her. Luckily when she heard my voice she ran to me and I got her out of harms way.
You can plan and try to protect them and they will find a way to make you feel dumb and look stupid.
Woody
__________________
The trouble with the world is that the stupid
are cocksure and the intelligent are full of doubt. -- Bertrand ...