39 weeks and no signs of labor

I'm 39+1 with my fourth and feel great. Not sure if that's a good or a bad thing. I've had braxton hicks since 17 weeks but haven't had hardly any in the last 2 weeks. Not much pressure down there, lots of energy. I feel like he isn't coming any time soon and my doctor wants him here by 40 weeks or I have to be induced. With my other children I was miserable at the end and had cramping leading up to labor. Anybody felt great with no signs and then boom labor comes out of no where? I have been having sex and walking 2 miles a day.