My boyfriend has stopped at rest stops and taken naps, but he's a guy. It's much less safe for women (not that I'm suggesting it's safe for a guy). If you have an alarm on your RV (I assume you can get RVs for them like you can a car), that would be a bit more security. I do agree, though, you should follow Pat's advice.

I find it irritating that state driver's manuals tell you, if you're too sleepy to drive while on the road, pull over, but if you don't have a rest stop nearby, and you pull over into a business parking lot (like the mall), you may find a cop or security guard knocking at your window, telling you that you have to leave. Yes, it may be private property, but as long as you're not doing anything illegal, you're doing the right thing. I'd rather drivers pull over and sleep, than me be on the road with someone who hasn't had enough sleep!