Think of a release word that you could use to indicate to your Cockapoo that you give permission or that the task is over. Many people use 'ok' for everything although you may prefer to use different words for different scenarios e.g. 'finished' or 'go play'.
Getting out of your vehicle
Arriving at the park for a walk is an exciting time for a dog. Teach your Cockapoo to wait in your vehicle until you give him your release word. This may take time and patience but will pay dividends. A dog that automatically jumps out of the boot of a car as soon as it is opened may put himself in danger. If your Cockapoo is crated or uses a harness in your car, still get him to wait until you give the release word before he can get out.