Dilated 4 and 80% effaced...😮

Had a doc appointment and found out I'm dilated 4cm almost to a 5 and 80% effaced and baby's head is really low! I'm not really contracting so I'm surprised I'm almost a 5. I've just felt exhausted, heart burn, nauseous and loose stool. He says I can have him any second and won't make it to hospital in time for epidural...which I'm kinda freaking because of the pain that I will feel. I'm 37w 4d.