This is not too late. This is the point where you realise things need to change.
You have said this has started because you are pregnant, it can be two things, one because he is truly abusive and the control starts now, or that he likes the idea of you being some sort of 1950's housewife, as you will be at home with the baby and somehow still have time to iron his clothes, cook his dinner, that sort of thing. Only you know which this is.
If you can listen to the Dr Phil podcasts because he talks through the dysfunctional.
But first things first. Today, you abdicate responsibility for the pets, he needs to do that. You do not do it, at all. There is too much risk and you cannot be cavalier with the health of you or your baby. He may not care but the way to show you care is to absolutely not back down on this.
You cannot live in fear of speaking your mind in a relationship. Ultimately he should be your best friend. I would be asking why he is willing to risk a miscarriage or stillbirth both of which would be horrific on all levels.
Very unmumsnetty but I feel like you need a hug 
Could you go away to your parents? Are they nearby? Supportive?