Husband won’t let me leave the house alone

Let me start by saying he has PTSD from the military

We have 2 kids and another one the way

Today I decided to go shopping with my mom, I had told him about this days in advance

This morning I gave the kids breakfast and left before they would notice I was leaving

I text my husband saying I left with my mom

His response let me know he was upset about it

My mom and I get to the store and I text him to see how the kids and him are doing and he says he’s on the phone with the crisis line

So my mom and I hurry to check out and try to leave the store as quickly as possible

I get home and he’s super upset and starts yelling at me and takes off in our only vehicle

He obviously is very upset and shouldn’t be driving

He gets super aggressive when driving as it is, so this is definitely not a good time for him to drive off

My point is that I feel trapped, I love my kids and my husband and of course I want to spend time with them always and I do but I also need time to myself or at least to hang out with my mom

Idk what to do at this point

I can’t even suggest to separate because he has told me he will die

Please help, any suggestions?

We are already getting marriage counseling once a week