You could look into an auto pet blanket, might be a bit spendy...but I think that they are backed with something that is waterproof and then the dog side is soft material. They might even have a way to attach them.
But if they are too spendy, you could just take a fleece throw and sew a piece of elastic to one corner, or some ties. That way you could tie it around the headrest, to keep in place..keeps it from sliding off the seat.
But if they are too spendy, you could just take a fleece throw and sew a piece of elastic to one corner, or some ties. That way you could tie it around the headrest, to keep in place..keeps it from sliding off the seat.