Ex is trying to take me to court over baby

My fiancé decided to leave a week until the baby is due. I'm 39 weeks and he's been acting like I've been the problem but I recently found out the night he left he had another girl with him and that he's been cheating on me the whole time. The day he left we got into a heated argument and I went to get out of the car as he floored it and almost ran me over. I was jerked out of the car onto my stomach and then after getting up he choked me up against the car. He's been abusive the whole relationship, all the way from choking me till I had to fight him off so I wouldn't pass out , to giving me black eyes and kicking me all while I was pregnant. I never pressed charges because I didn't want to ruin his life with a baby coming. But I should've known it was the babies best interest for him to be arrested because he could've easily hurt or killed our son. Now that we've broken up and after confronting him about cheating (which he denies but all guys deny it 😂) I told him he can see the baby but I have to be around when he does for a while. He told me that I didn't need to be around when it was his time with him and that he'd take me to court over it. He's only 18 and in high school. I'm scared for my son's safety after everything he did to me & now have to worry about the court lettinghim see the baby without me.. He already has an EPO for domestic violence for punching his ex in the face. I thought about going and reporting him for the car incident because it only happened three days ago and I was in the hospital for it, because I know they can't do anything about the other abuse because I never reported it. But then I'm afraid that will just make it harder on The baby in the long run. I need advice 😭