New dog--boundary training??

[texsuze]

Posting this here as spinoff to the OBS posts about new rescue pups!

Bentley (coming 2 y.o. yellow lab mix) who we adopted a couple weeks ago has successfully gone through his neutering, all vaccs, etc. He is a good-natured, smart, happy young dog, who knows some commands, and LOVES being outside, thank heavens!

Our goal: to train Bentley to stay inside the yard fence when either or both of us leave the house in a vehicle or in the Gator. When we're home, he's in the house with us.
Our environment: Rural location on acreage; house is in the middle of our property. Our fencing (6' mesh, one automatic gate at driveway, two other "people gates") surrounds the house and about 2 acres total. This is our "yard".

Our automatic gate uses sensors buried in the ground along the driveway, that open the gate when a vehicle drives in or drives out. Gate opens to 90 degrees, stays open for xx-seconds, then automatically closes.

DH has found training info on creating a 'boundary', essentially encompassing the arc of the gate and the driveway at the gate so Bentley (in a perfect world!) remains off to one side as someone drives out, waits for gate to close, and then receives a treat as reward.

Anyone with tips, experience, etc. on either boundary training or similar training situation? We need to begin this journey soon. Thanks in advance!

[piedmontfields]

I'm of no use, as I don't leave my dog(s) inside our 3.5 acre exercise area without supervision. If we leave them outside while we are driving in and out of the area, they are in a secure kennel run or in the house. But I have bird dogs!