I feel so awful

I’ve been with my boyfriend for 5 years. He’s always been pretty abusive to me emotionally and has gotten worse over the years. He started getting physically violent towards me. We eventually had a daughter and I love her more than anything. I haven’t got the strength to leave even after everything he’s done to me. He’s cheated on me, given me an std, hit me, put me in the hospital and so much more but i just couldn’t leave. A couple days ago I was potty training my daughter (she’s 3 now) and she couldn’t really get the hang of it. I told her it was ok and she can do it when’s she’s ready. My boyfriend didn’t really like that response and screamed at me saying I should potty train her better and be more stern so she stops peeing herself. I wasn’t trying to push her to hard because I know it might be difficult for her. He was in the bathroom and sat her on the toilet and just screamed at her telling her awful things that no 3 year old needs to hear. He kept yelling and she was crying and I grabbed her and i brought her to her room. I felt so awful. She had to watch me go through everything and now he’s yelling at her too. At that point i knew i had to go. So i waited for him to go to work today and I packed mine and my daughter’s things. I couldn’t pack much because I can only bring what we can carry. I really don’t know where to go but I have to go somewhere. I want to call my best friend but she got pretty angry at me last time we talked because I kept standing up for my boyfriend and basically told her stay out my business. I feel so lost right now and I don’t know what to do. I didn’t plan this far because I didn’t think we’d make it out.