I wanted to be able to stand up the bike inside (with the front wheel removed) so that I didn't have to worry about the possible damage or security problems of an exterior rack, but still have enough room left inside for something besides the bike. The Rav4 is a pretty small vehicle - what allows this to work is that the spare tire is mounted on the outside of the tailgate, which provides a cargo area under the rear floor, giving some extra interior height. It won't work in a 2013 Rav4, or a Forester.
The parts are:
Visible wood piece that rests on the fender wells.
Wooden stiffener that screws on underneath the visible piece.
2 front fork truck bed mounts.
I used a "Delta Fork Block Pickup Bed Mount":
2 small barrel bolt latches
Screws and glue.
Step 1: What it will look like
If you're much taller than 5'8" the saddle will hit the ceiling, so you'll need a more complicated stepped structure that will allow the fork mounts to be positioned a few inches lower; but you can only go down a short way before the chain wheel will start to rest on the floor.