You can add each enemy (I suppose there's a Enemy scene) to a group, "enemies" for example.
Then, you can check how many nodes there are in the group:
func _process(delta):
var enemies = get_tree().get_nodes_in_group("enemies")
if enemies == 0:
go_to_next_level()
Of course, for this to work, you have to remove the enemies as they die with queue_free().