AI Servo is "predictive". It assumes a steady speed of approach (or retreat) by the subject and needs time to work out what the speed is and to anticipate shutter lag and have the focus where it should be at the moment when the exposure takes place. A minimum of half a second is advised, even on a 1D camera, but a full second is probably the safer bet. If you want to track for five seconds then that's fine too, although offers no advantage.
Given the above, AI Servo does not work so well with random changes in the rate of approach or retreat of the subject. An approaching vehicle is perfect. A fluttering bird darting all over the place is a bit of a disaster.
With the dog, yes - I tracked her from a distance as she approached me and probably fired a short burst or a few individual frames as she got within a sensible striking distance. I would never try to snatch a shot such as the dog - you have to track the motion first before releasing the shutter. If you don't then I think success would be very much down to random chance.
Here is the AF point placement and camera settings for the shot. I don't know whether I had expansion points enabled. I certainly do use them but not always, and I can't spot any clues in the EXIF either way.
The tennis ball is key to the success of AF tracking with a shot like this. Without it there really is insufficient contrast for the camera to stand much chance of locking on to anything. I also try to pick my lighting angles so my subject is at least partially front lit. Shooting this into the shadow side would also be a fruitless exercise. Black dogs with no markings are not the easiest subjects to track at high speed.
One more point - The fewer AF points you can get away with the better. When you start adding expansion points into the equation, or going for automatic AF point selection (all points active), there is a lot more focus data being generated and requiring analysis and more decision making needed by the camera. The fewer choices you give the camera the more assured the result. I try to shoot with a single active AF point if I can. I progressively increase the number of points in use only if I'm having problem keeping one AF point where it belongs. There are other consideratoins too, like what else in the scene is competing with the subject for attention from the AF. When you're shooting BIF against blue skies it's hard to get it wrong, unless you have a huge bird and end up focused on a wingtip instead of the eye, but when you have a busy background, such as woodland, you really need to help the camera out by using the fewest number of AF points possible and placing it (them) bang on target.
If you are using AI Servo and all points active (a mode I practically never use, regardless of camera body) then remember that you must first acquire and track the subject with the centre point before the camera knows what the subject is and can pass off AF control to peripheral points. In this respect it works completely differently from One Shot with all points active.