Why do you think it's so important that you drive? If you could drive would that really be all it took to leave your husband and start living the life you want? If it's a matter of just phsyically getting away can't you ring a taxi? A friend or family member?
Not being able to drive doesn't mean you're useless, plenty of people don't drive, you're giving yourself such a hard time about it, it doesn't make you any less of a person than any of the drivers out there. It doesn't make you less capable of anything (other than driving of course :P). Not being able to drive doesn't mean you have to stay somewhere you don't want to be, and be treated a way you don't deserve to be treated.

Car or no car, you can do it if you want it.
*hugs* I'm sorry things are difficult right now for you. I hope things improve.