PFM,
Please take Debbie's advice and find a place to stop and rest...it will do no good for you to keep pushing like this when you are exhausted and need to take your meds.
You are out of there safely, and I understand you wanting to get to your aunt's house...but please slow down enough to take care of yourself and kids...sleep, meds, food.

Contact a shelter in the next town of any size...the police dept should be able to help you.
If you do have money, it is well worth spending it for a safe sleeping place...

Check in and let us know how you are doing, ok?

In Peace