Everything you describe him doing here is a crime, his behaviour is coercively controlling, by controlling your finances, the car, hes gaslighting you to excuse his abhorrent behaviour, hes coercing you into sex, and hes selling intimate images of you.
I'm so sorry you have been going through this for so long. You are incredibly strong to have lived through all of this and manage to take care of your children.
Please know that his behaviour is a choice he makes, none of this is your fault, he chooses to be abusive and controlling. You are a survivor!!!
You could go to the police about all of this, it's a big step and might seem scary. If you go to women's aid first they can provide you with support and help around finances. They can also provide you with an advocate to support you through any police reporting, if you choose to do that.
Now is your time to do things at your own pace. I know a lot of people say just leave him. But I know that is easier said than done when you are the one in the abusive situation.
Remember you, YOU are the expert in your own situation, but do please seek some support.
Wishing you all the best. You are incredible!!!