OP, I'd recommend that what you do is write out a neutral, factual account of each incident.
E.g. date, what happened, effect, what you said, what he said/how he reacted. No adjectives.
Below each factual account I would include a commentary which is why you think it happened/what you felt.
Ideally do them in different colours or underling.
E.g.
Fact: 1 May: DH changing gears, hand collided with my leg, I said X, he said Y.
Comment: it hurt me like a punch, I felt very upset when DH said X because it came across that he was minimising it. I felt it could have been avoided by more carefully checking for tge gear. If he had been driving more slowly he would have had more time to do so.
When you have done it, leave it for a couple of hours and then check it (a) covers everything and (b) properly distinguishes neutral facts and commentary.
Then, if you feel able, ask a trusted friend or relative to read it for their views.
Give the account to DH. Tell him you want him to read and reflect on it calmly, by himself, and that he can write out his own commentary to each incident. Tell him it is not the details of each incident but the overall picture that is now upsetting you. Anyone can have one accident, but repeated accidents require an intervention. Tell him that you are doing this not to blame him but to find a solution that protects everybody, including him. Importantly, he is to write out and reflect upon his response to your log, rather tjan speak to you, because this requires calm and consideration.
His response to this will tell you what you need to do. Because if he refuses to engage in the exercise, or tries to fight or diminish it, I'd be considering (a) marriage counselling and (b) seperation.