I want out

I’m 25 years old I’ve been in a relationship for 4 years on and off and it’s been nothing but mental emotional and physical abuse i have 2 children and I’m pregnant with my third (unsure if i want to keep it) i want out of this relationship but I’m really scared because of what he might do to me I’m even scared to call the police i feel closed in from my family i get treated so bad i have my 8 month old daughter by him and the baby I’m carrying is his as well but my oldest he’s 4 he’s not his thoe I’m really afraid of the person I’m in a relationship with has anyone ever got out of a situation like this and lived a happy Normal Life afterwards 😢