Pregnant and stressed

I know being stressed when pregnant isn’t good at all, and I need advice I feel like I’m in a hole. My father has always been a drunk jerk, and last night I went over to his house to spend time with him which I regret every time I go. I’m on his car insurance and I am all willing to help him pay half of the insurance right, except lately he tells me I need to pay him $400+ for insurance and I know damn well my half is not $400+. This time he threatened to take me off his insurance if I don’t give him $400 by January 10th and I’m freaking out. I am due in May I have a baby to save up for, I have to pay for the health insurance for her and I, I have to pay my student loans because my bank makes you pay them back while in school, I only work a part time job. I live with my mom which he hates because he never has anything nice to say about my mom, but she’s heaven sent and helps me out as much as she can. I’m going to get my own insurance but I also want his name off the title to my car because he didn’t buy it, but I know he won’t fill out the paper work. He’s taken full coverage off my car, he is money hungry, and he called my baby girl a mistake. I’m in a really sticky situation because he’s a control freak and will never let me be completely free of his hold.