The most inexpensive way to keep you dog off the road, as it is just a matter of time that he looks for food wrappers thrown out, is to put up an electric fence in your back yard. My dogs are used to an electric fence and after I mow, I run a sing strand and give them the shop and all the side property. I use those white step in poles they come in white or black. But I put them about knee high. They will stay inside the pasture wires as well, but the horses want to stomp them. But I have a doggie door and they come and go as they please. I keep it open for their use, and when the dead of the winter comes, the North wind at times is so strong, that it will blow it open. I have to shut the inside door then.
In a bit, I head this: thud-thud-thud-thud..... and know it is Spiderman wanting in the back door. He paws it like he is running.