That really sucks!!! I know how you felt, sorta.
My dog did that once, but he is much bigger and jumped out of the way of a car and luckily was fine, but it's a scary thing to happen and I can't imagine that happening while trying to get your other two dogs as well!!!
I almost hit a dog with my car and that was one freaky moment. These kids, about 3 of them from ages 7-11, where walking their dog (looked retriever mix.). The dog slipped the collar on a realy busy road and here I come going the 35 mph speed limit and the dog runs right in front of me!!!
That scared the crap out of me!! I could hear the kids screaming the dogs name and one just plain screaming and I swerved and missed the dog and it ran back to the kids!! Those kind of things can be so nerve wrecking.
But everything worked out for you guys this time, which im glad about!!
Take care.