Advice

Me and my children's father have been together for maybe 3 years. We've been wanting to try and work things out but it never fails. He gets super drunk, tries to have sex while our kids are asleep in our bed. Gets mad when i turn him down and starts to call me names. He will yell and when i ask to be quiet so the kids won't wake up he tells me to shut the fuck up. He's woken them up numerous times and has yelled and threatened me in front of them. I've had to have my cousin get him out of the house multiple times. He has shoved me, grabbed me roughly. I've caught him telling another girl that he loves her and misses her a week after our daughter was born. Not the first time I've caught him talking to someone. The first time was 3 months after our oldest was born. Idk what to do anymore i know i should leave cause he's never gonna change and i don't want our kids thinking its okay to treat someone like that or accept someone treating them this way. I know we need to end this toxic relationship before it gets any worse. But I'm scared cause i can't trust him to have them overnight, keep to their sleep schedule and be sober with them. Or try and keep them from me if he took them for the weekend.