Need some advice :(

This is actually pretty long but I'll try to shorten it.

Me and my boyfriend got together when I was 17 and he was 15, I kissed lots of guys (he knows this) and had sex with 1. He was a virgin, never kissed or anything.

Fast forward 17 years later and 5 kids and he still calls me a whore.

Right now we got in a fight because he kept calling me a lesbian, but in an annoying downgrading way so I had enough and told him I've only been with MEN, emphasized the men part and that upset him so, he said he was talking us home instead of eating at the restaurant we were trying to find parking at.

I told him I wasn't going home and he said fine I'll pull over and walk! (We are 20miles from home). So now me and my 1 year old are parked by a hobby lobby and I just wanna cry. I don't know what to do!! I'm tired of him bringing up the past, he had issues with porn and talking to someone when we had broke up for a month, three years ago and I can't bring any of that up but for him it's open season.

It just sucks ;( what would you do? :(

-feeling lonely

Thank you to those who replied. And yes you are right I should have left but I never wanted to leave my kids :( I still don't, I can't imagine not having the on the weekends or if he were to get even more custody, my heart would break.