First, it would be beneficial to take deep breaths and just concentrate on relaxing right now. From what you described in your post, it seems to me like your husband is being verbally/emotionally abusive and careless/reckless... it is never a good thing for him to put both of your lives in danger while driving a car. How long has he been treating you like this? There are definitely many warning signs that you are probably experiencing. If you don't like the way things are going (like you said you don't feel like living with him any more) , I would suggest to get out of the relationship now before they get worse... or if things change, you could always communicate with him about maybe going to some counseling together.

I hope this helped, Be strong!