There are LAWS on the books for nuisance barking -after certain hours (like late night or non-stop barking). So you can call either the police or Animal Control and report that, although making a recording or video to PROVE how bad it is, or how long it lasts - is always helpful - if you ever have to advance, to taking it all the way to court. But some alarm or excited barking is always legally allowable (within reason).
However, you do not have a leg to stand on (legally speaking) per getting "scared or frightened" by a dog "barking". And no, NO ONE (no authority) is going to remove a dog from a premises for barking and frightening you. You need to: walk in a different location, TOUGHEN up, buy ear plugs.... or MOVE.