With any possible health issues ruled out and if a Poodle is humping so much that the behavior is a disruption to the household and/or threatening proper rank between humans and dogs, there are some things that you can do:
1. Consider spaying or neutering your Poodle.
While some fixed dogs do indeed hump, this by far cuts down on this behavior more than anything else. Without hormones ruling how a dog acts, this can greatly reduce the urges. In addition, it has added benefits aside from preventing unplanned pregnancies such as lower cancer rates.
Do keep in mind that while there are some conflicting studies, overall veterinarians do agree that spaying and neutering does increase life expectancy.
2. Assess the house for stress triggers. Each dog is unique. With some Poodles, such things as loud TVs and/or music, lots of people coming and going can cause the dog to feel stressed out. And of course, dogs often take to heart any yelling or other disturbances.
If you feel that the household is a bit chaotic, do try to keep things more peaceful. And offering your Poodle his own little retreat (indoor canine playpen, comfortable dog bed) can help as it gives him somewhere to go if he wants to rest away from noise or foot traffic.
3. Establish yourself as leader.
You know that you are in charge, but does your Poodle know? Are you sure? This is something that many owners don't think about, since they assume the proper relationship is already there.
One of the best methods is to expect an obeyed 'Sit' command before any food (both meal or snack) is given.