Leave, no question about it.
Your responsibility is to your children. Imagine that he drives drunk and they die.
SHARE IT. IT WILL EMPOWER YOU. My wife is mentally and physically abusive… at first I was ashamed and embarrassed but like Cara Mia said, you are not the cause, nor the cure. It is SAD and you have to deal with that. You may still love him, but you also love your two children and you are their mother who has a responsibility to protect them.