D or D with D3 Driving Mode
WARNING: This page is about a different car, the 2013 Honda Odyssey, 2012 Honda Odyssey, and 2011 Honda Odyssey. However, it is still accessible from the selected car via links, so may be relevant.
In D, the optimum gear is automatically selected from 1st, 2nd, 3rd, 4th, and 5th gears, and 1st, 2nd, and 3rd gears in the D3 driving mode according to various input conditions between the accelerator pedal opening (engine loading) and the vehicle speed.