Neverunderstood
Read all the other posts here and let what they are telling you re yourself and your kids sink in. As they all rightly say staying for the sake of the children does not work and in turn you will also be doing your bit to teach them harmful lessons about relationships.
Do contact both Womens Aid, the Rights of Women and a local Solicitors and get the help you need from them. You are an adult still with agency and you have a choice re this man. Your children do not and you need to make better choices for you and they going forward. Your very soul here is screaming at you to leave your abuser.
Do you really think that such a man would want his children half the week, particularly if he works full time?. No he would not, he sees them as an encumberance and to some extent a PITA and would palm them off onto his parents. He won't let you leave at all easily as he is abusive and will likely demand all sorts re custody and be awkward over any financial or final settlement re divorce. Such men only say that to keep their target in line as a control measure. Its one of many tactics abusive men use to keep their woman, aka possession, in line.
Do not bring autism into this equation; he as well as his parents are nowhere on any spectrum. The rotten apple that is your abuser of a husband did not fall far from the rotten tree that is his family of origin.
Why did you think Aspergers re him?. Please educate yourself as to what ASD actually is. I would put a fiver on it he is not autistic and would not score at all highly on any properly detailed questionnaire about autism. What your H does to you and in turn your kids is not down to ASD. I realise its not intentional on your part re trying to analyse why he is the ways he is but its a rabbit hole and your energies would be better employed on exiting this marriage. All you need to realise is that he does this because he can and feels entitled to treat you and in turn your kids like he does. On a wider level I am frankly tired of seeing otherwise decent people think ASD or Aspergers syndrome almost as a default when it comes to male on female domestic abuse.
His family as well as your hopefully soon to be ex H are all abusers and do not care about anyone other than their own selves and self interest. Your children should not be at all around his toxic parents either. If they are too toxic/difficult/bad for YOU to deal with, its the SAME deal for your kids too. Not all relatives are nice and kind and some of them too are actively abusive.