LO will NOT sleep in her own bed.

So I have a 16mo baby girl.. She is very intense and focused at all times. She is very, very smart and it is almost her downfall. She can sense when something is not going her way before it even happens. She has been sleeping in my bed since August. We have tried so many different methods for her.. We even tried CIO because I was honestly only getting 2 hours of sleep. I am currently 24 weeks pregnant with baby number two. I am planning to breastfeed/cosleep with this new baby as well and do not see with her current sleeping habits how she could possibly stay in our bed with us safely. I feel irresponsible. We were on vacation in August and I told myself it would be just one night and every night since she will cry if I even pick her up after she falls asleep. When we tried CIO she cried so hard she threw up. How do I fix this? I’m afraid to tell our pediatrician because I know it’s irresponsible. She is terrified of her crib.