Verbally abused

My baby daddy has visitions with our child it's suprivised by me. He has been verbally and mentally abusive constantly calling me a b**** stupid retarded a loser useless can't do anything. He tries to fight with me in front of our child if he's pissed off he goes 80 to 90mph with our child in the car I tell him to slow down he just goes faster. During his visitions he don't listen to me when I tell him to stop for example he had his cloth mask on started rubbing his face all over our child's face I told him to not do that because masks don't 100% keep germs out he kept doing it I told him I will end the visitions he stopped. We walked around with our daughter in the stroller he was walking in the middle of the street with our child. I told him to get on the sidewalk he refused to said she completely safe. Mind you there were cars speeding by and slowing down to go around him and my child. Eventually he got on the sidewalk because cars were coming both ways. I do have full custody of our child I put in a motion at the courts that he has been mentally and verbally abusive not listening they told me to wait till they schedule a court date for our final hearing. What can I do about it? I wanna shorten the visitions to every other weekend for a hour instead of 2 hours.