TMI warning

I’m 37 weeks and 3 days and I was laying down this morning when I felt liquid just come out of me into my underwear, I got up fast and went to the toilet and it continued. Did I just literally pee on myself without knowing?? My husband thought it could be my water but the doctors told me it wouldn’t be yellow like this. Any ideas? When I wiped there was this clear discharge and that isn’t normal for me, mine is always white.