One thing you could try is dog repellent. Lowe's carries it (I believe). Comes in a spray dispenser and has a unbelievably obnoxious scent. Back home, the neighbor's bulldog would come on over and do his stuff in my lawn when the neighbors weren't home. The owner would shovel the "objects" back into his lawn when he came home but that didn't keep the dog from doing it so I bought the repellent. Dogs use scent to return to their more recent "toilets" so I sprayed liberally around every area that had been used. After a few applications it worked pretty well and Rover stayed on his side of the line.
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