We have both CRV & Odessey.
Our dog has a car harness as a restraint- it has a loop attached to it.
The seat belt (center) or lap belt goes through the loop and then is fastened.
It keeps the dog in her seat but she is still able to lie down.
The trick is getting the car harness on the dog; after a few tries they get used to it. We call it her "car leash" !
Cathy