The dog was running at you when you were in your own driveway? Pretty soon you'll have lots of time to write, as you'll be afraid to leave the house.
And a bulldog is not a 'small' dog, it's a heavy, low-center-of-gravity dog, that could have had you off your feet if you hadn't been lucky. Flat on your back, it would have been much harder to defend yourself.
As no-one can say what about you set the dog off, no-one can say that it won't attack someone else. A smaller, weaker adult, or a child. Perhaps a playmate of their own children. Easy to knock off their feet, less able to defend themselves. At least if you've reported the attacks on you, the owners won't be able to claim that they had no idea that the dog was capable of doing such a thing.
And, if you're shy about approaching the neighbours directly, definitely ask the other neighbour, who's known you for decades, to intervene. As someone who's lived in the neighbourhood for ages, he knows everyone involved and as an ex-policeman, he can explain the potential consequences to them and their dog.
It will probably be easier to retrain the neighbours than the dog. Spray them every time the dog lunges at you, and see if that makes a difference.