Rick,
You have gotten suggestions which are all over the map but they are sincere opinions so not to fault them. Now, I am a Vet and not a dog behavior specialist by profession but of course I've been pushed somewhat into that arena during my career. Cats who are that aggressive are usually hard wired that way and there's not much anyone can do to change it. Dogs, on the other hand, are not usually wired that way except in a few breeds which have a disposition to aggressive behavior
It sounds like Lucy knows that her aggressive behavior is not acceptable but does it anyway. I really only have two things to try but have worked for me on dogs that need some behavior mods. One is to just keep her on leash in the house....all the time and where ever she is or goes for a period of time...maybe two or three weeks. The other has worked wonderfully for me for years. Take an empty beer can/soda can and put about 1/2" of small pebbles inside then tape the top shut. When she does her aggressive stuff THROW (not gently toss) the can at her...even hitting her...it won't hurt so don't cringe at that suggestion. She will be very repective of this can from now on....Next time she acts up just rattle that can and she'll likely snap to and behave. All I have to do now with my Aussie (who used to run away when getting out of the car) is to just show him the can...he trots right up to the door of the house. Now, of course, after the behavior stops each time, due to the can, give immediate verbal and physical praise...even maybe a treat.
I think you should try this....it has ALWAYS worked for me and others I've suggested it to. A dog's main focus in life is to please you...help her learn how.
Now, all you bone heads
who think I'm cruel to do such a thing to a dog are free to flame away 
Gimme some report if you try this...I'd like to know...