You need to establish yourself as top dog in her pack. Start by doing some obedience training - sit, stay, drop, come. Start in a quiet environment and then work up towards a place with distractions. Go through doors before she does - block her with your body and teach her Wait. Eat before you feed her. Put the food bowl down and make her wait for the command to eat. Don't let her be at the same height as you, or above you - eg no lying on the lounge - she needs her own bed. And no sharing beds with you or the children.