I've posted on here before about this girl and appreciate

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I've posted on here before about this girl and appreciate the help before. I've another problem related to it.
Some backstory:
>I'm a little bit Aspergery
>Never had a girlfriend, or even extensive contact with the opposite sex outside of my mum/little sister/grandmother before this girl
>7 weeks ago my sister set me up on a date with one of her friends that had a crush on me
>We've been seeing each other a lot since then, averaging just under 4 dates a week
>I've told her I have no idea what to do in almost any social or intimate situation
>She said that's ok and she's happy to teach me
>She told me that on a lot of our dates she's trying to get me to open up more
>I am enjoying spending time with her a lot
>I get an erection for almost the entirety of our dates
>She can definitely feel it pressing into her body when we kiss sometimes but hasn't said anything about it

So my problem happened on Friday. We were together in her flat and kissing a lot and this eventually led to her taking off her shirt and bra. This was the first time I've ever seen a girl's breasts outside of the internet or my mum. She asked me to touch them and my penis felt like it was going to explode, and when she told me to use my mouth I actually did cum in my pants.
I don't think she noticed because her eyes were closed and I kept going for another 15 minutes until she asked me to stop, but the smell started to permeate the room. She didn't say anything though. After we stopped we kissed a bit more and then I went home.

My problem is how do I avoid cumming in my pants in the future if I find myself in these situations?