Was it really rape

My boyfriend at the time would not leave me alone or take me home when I told him to take me home. He said because I told him earlier that we would have sex, we had to. He went on a back road and undressed me as I continued to say I wanted to go home. Eventually I laid there and said “just get it over with. It hurt so bad. I was bleeding for a few days after because of it and it hurt to even pee(sorry for the tmi). To this day 4 years later it is still on my mind. Sometimes I even freak out if my loving husband makes me feel too confined. Because I told him to get it over with Was I actually raped?