Dog Restraints

What do you guys use if anything when you bring your buddy with you? I was looking online and the things that I’m seeing are not much better then just tying my dog down with a rope lol.

Right now she just sits in the passengers seat and I drive so she dosent get tossed around the cab, but sometimes she moves at a bad time and she will slip off the seat.

Also has anyone made any custom seats? My dog bairly fits on the passengers seat and I was thinking of making something so she has more room. Probably something with sides. Just looking for ideas.