i personally would never have my dogs under any restraint when jogging them apart from a lead bieng held by someone. If you work your dogs from a motor often enough they Know to keep a safe distance my young dog used to be bad for racing the jeep but has settled down nicely.
I find the safest way to jog a dog is on a bike on a canal path. There aslong as you like plenty of fresh water for dogs to have a swim or drink no cars or cats to worry about plus there's allways the chance of a wee run o something to break it up abit ??