Can I bring our car? I want to leave my husband

So hubs is paying for the car as I didn’t have a job before since he’s in the military and jumping from one place to another. Anyway, we both have names on the bank where the loan is at and the registration says I’m joint owner. I want to go away. He’s abusive to me calling me bipolar, idiot, stupid, dumb, and when I fight back he’d be upset yelling at me. He’s a big man for me as I’m really small and long story short he’s squeezed me till I get bruises in my body. Pushed me. Can I bring the car though? I’ll return it to him when I’m settled. He won’t know I left when I’m already on the road