OP I too was in your shoes a few years ago. I believed the same as you and I didn't want the relationship to end, I just wanted him to stop hurting me and realise how good we could be if he just stopped being nasty.
I ended up in Relate because our 3 year old witnessed him throw me out of our vehicle and shove me to the ground. He never hit me, always pushes or shoves and verbal abuse though he did also put his hands around my throat during arguments.
Relate did not help. They prolonged my agony for possibly another couple of years. I wanted them to call him on the abuse but they never stood up and clearly stated that what he was doing was wrong (even though I sat there in the initial session covered in bruises from where he pushed me), they did a 'safety plan' where he agreed not to attack me and I agreed not to do anything to set him off.
Now, 9 years later I feel rage when I think about how much worse they made the situation. He manipulated the counsellor and managed to get her on his 'side'. They are NOT trained to deal with this and can (and often do) make it worse.
Relate is NOT recommended in abusive relationships for that exact reason.
Please, please keep contacting Women's Aid. I have undergone DV training and they know all about men like him, they are not fooled and even though he hasn't punched you in the face (yet) he is far more dangerous than you realise. Your baby has only got you for protection, you already said he resented you getting pregnant. YOUR BABY IS IN DANGER OP! It takes a split second to shake a baby in anger, a split second for him to lose control. Please, please realise this. You can leave now. As soon as you do you will break the spell. If you can't do it for you do it for your kids. Refuges are much nicer than you imagine. They are calm and safe places where you will be fully protected, like a little flat almost. There is help out there. Keep reaching out, listen to yourself. Read what you have written. He does NOT define your reality. This is real and he made it happen and if you stay it WILL get worse. If he can do this and get away with it, he can do anything. He could kill you or kill your kids. THAT'S how bad it is, seriously.
You can do this, get support, get help, tell people.
Please, stay safe. TRUST your instinct that makes you afraid of him. If you think he may kick off, get away and call the police immediately.
THEY are the ones you need now. Not relate. WA and the police will help you to do what you need to do, safely.