We have the same problem here at the cottage but it has gotten slightly better over the years. Webster and Tabitha go out together first thing in the morning. Tabitha likes to go first and swat Webster when he scoots by. She used to hiss too but doesn't anymore. Actually, lately she's not even swatting. She usually comes back first to eat. Webster won't come in the house unless I stand in front of her, as the cat food dish is in the vestibule. I'm happy to see this problem exists in other households too. Poor dogs, they are so respectfully cautious of the cats they live with, letting them rule the roost. Webster too.