OP I left whilst pregnant and 3 other kids. We lived in a Travelodge and washed our plates where we washed our knickers for 3 months. But now? My girls tell me they have never, ever been prouder of me for making that decision. If I can do it with 4, you can do it! Be a warrior woman for them little ones, they need to see it.
We treated our time in emergency accommodation as a holiday, explored the different areas and new places, yes, it was stressful but it didn't last, and now we laugh about running through the rain and thunder when we got caught out, playing in the parks, and just being silly but safe.
Go to the council and apply for housing quietly, contact women's aid to provide supporting evidence. Dont tell him you're bidding, and do a moonlight flit on him if you're scared because he's bigger than you and gets aggressive. We had nothing but personal effects and women's aid provided us with what we needed.
Abuse gives you priority banding and if it's severe enough they'll have you right out of there. I have a feeling this isn't all he does if he thinks shouting at you in the street is acceptable behaviour but I could be projecting my own past.
The kids notice more than you think. Even if it isn't directed at them, which is is if they're being included in the humiliation and name calling, they'll see you scared to buy things, they'll feel your emotions, they'll be scared for you and it is affecting them at a very important stage of their development.
Sending love and warrior vibes. You got this 💕