Well since your car is financed, you can't sell it until you, or someone, pays it off.
If you trade in the car, the dealer will give you what he thinks it is worth to him, NOT the full amount of the loan you owe (unless you put a large down payment when you bought yours---most people are "upside down" in their loans---meaning they owe more than the car is worth, because they have to pay interest on the loan).
Sure, a dealer will buy your car and pay off the loan, but the difference between what he gave you for the car and the payoff on the car---that difference--is going to be blended into the NEW loan, making you even more upside down on the "new" 2007 on up Pilot.
So what you have to do before anything else is find out what your car is really worth...there are different "worths"----the value of a trade-in, and also a higher value, what the car would sell for in the regular private party marketplace.
Depending on the condition of your 2007 CRV, and the model, whether 2WD or AWD, etc., maybe the dealer would give you $15K for it. It's possible you aren't very "upside down" on the loan, so check it out.
The only thing I don't recommend is blending the deficit (should there be one) on your trade-in, into the new car loan. I'd rather see you wait and pay it down so that What You Owe =Current Retail Value or at least Dealer Trade-in Value.
While you are researching prices, research the fair price for the "new" car you want, too.