My husband yells at me

Even over the Littlest things he'll yell. I say "lower your voice or stop yelling" cause we have babies watching us. Seems like that makes it worse and he yells louder. On the way home from a Dr appointment today he got mad that I didn't tell him the directions fast enough, (I had already said it once and he just didn't hear me) and missed his turn. He yelled at me so badly that I cried the rest of the way home. He didn't even care. Never said sorry and I'm just so over crying because of him. We have 2 kids and one on the way. What should I do? Talking to him does nothing, I've had very serious talks with him about things like this. I've tried so hard to make us work but I shouldn't be crying over the one person who's supposed to love me more than anyone. I need advice. We've been married 3 years now together almost 6.