"It's really fucking hard, mentally and physically deciding to go out"
Hell yes. I don't think this is something that most people 'get', without personal experience or knowing someone in this position.
Relying on others to behave with compassion and ethics in order to live is a fools game we're trapped into playing every day.
One of the reasons I use a scooter is because the tiller gives me a bit more protection. Apparently it's quite a common thing, which surprised me as I thought it was my stupid brain being cowardly, but I guess not.
I'm so sorry the police didn't do much. It's upsetting as they could have been more supportive and it's not nice to know that people don't think it's worth going the extra mile for disability hatred and the terror it will leave you and your DD.
I'm so so sorry your DD witnessed this. It's so damaging for her to see someone assault her parent. I know it's the last thing you need right now but you'll have to keep an eye on her when the initial shock fades and get her zone help if she needs it. Makes me boil with anger on your behalf and as a disabled mum with a sensitive child myself.
I find if I have my DS with me people tend to be too busy staring and working out our relationship to be overtly abusive. It's when I'm on my own the hate comes. Which is terrifying though not been physically assaulted to date I'm not surprised it happens. Oh except when someone tipped me out of an airport wheelchair going through security for 'a joke'. Landed on my face, couldn't put hands up on time. I scrambled up so fast and so humiliated I injured my legs in the process. I hate people 
mine was at least a long time ago. The shouts of 'scrounger, ducking benefit thief' from car windows are more recent though (which is v annoying as I have a job and pay tax myself! Though I should examine why I feel the need to say that every time I tell that anecdote...). Oh And the laughing as someone deliberately obstructs your way, stealing stuff from my scooter or plays chicken by jumping in front of me (resulting in soft tissue damage for me. But I should get a sense of humour apparently grrr). I guess we have the government to thank for much of this.
Anyway. Back to the point. I hate even the kindly motivated stuff when my little boy is around. They don't realise how instrusive it is and how damaging for DS, as they seem to feel compelled to come over to tell me how brave I am ( ... for queuing in MacDonalds & such like! Oh I do think it's nicer than the abuse but it's so, boak!), and then the awwww over DS starts.
And the 'you're a brave little boy aren't you with your mummy in that' or 'with you such a handsome little chap and all' ... err, though entirely true (unbiased mother that I am!), there's the implication that it's surprising cos of me?!
And I loathe the 'ahh is she your mummy? You're SO brave. Are you good for your mummy then? Do you help her lots? Do you do lots for her? You be good and look after your mummy then'... err no you well meaning idiot! He's 6 yrs old and is never going to be my carer if I have to die trying! And no, I don't want him being told he should have to compromise his childhood because I became disabled. I smile and as soon as they walk off say (possibly hiss violently to be accurate) 'DS that lady was very very wrong. Don't you EVER feel you have to look after me, I'm your mummy and I look after you, and that's it!' Growl growl speed off into sunset...
Anyway, lengthy post to say, my heart goes out to you. I get it and I'm so sorry.