It was definitely sexual abuse but I personally would not call it rape as that usually involves sexual intercourse. I would work on accepting it (that it happened) as a learning experience about yourself and work on your fear of the dark or inability to say "no"/leave someone else, etc.

You were a teenager, give yourself a break; the situation was more than you could deal with but that does not make you bad, weak, etc. Move forward and make sure something like that cannot happen to you again as you will learn to take better care of yourself this time so it cannot (you won't stay with a man like that, will support yourself in fearful situation and report abuse to the authorities/have a phone/plan for emergencies (like being abandoned by the side of the road), etc.).