Lively dogs in a motorhome advice please.

We have recently got our first motorhome and we have only been away in it once with 2 teenage sons, 1 laid back Labrador and 1 crazy Patterdale Terrier. The problem was the dogs in a small confined space was very stressful. They found it hard to settle, were noisy and wanted to be outside running around despite plenty of long walks. We are going away again this weekend and I am dreading a repeat of this. Has anyone got any advice or will I have to resign myself to weekend kennel fees for the future. Thank you.