Late last night my husband (31M) drove me (29F) to sonic after I worked a long shift at work. On the way there, we had a great conversation and I told him that being together was the highlight of my day after a rough shift (I wait tables). We live close to a sonic that I worked at when I was 19-22 and worked for a very creepy manager who constantly sexually assaulted the young girls working there. He was creepy towards me too, but I was older and knew how to stand my ground. Regardless, I'm not on good terms with him and when I go to this sonic I park in the back, where they can't see me in my car. 
I had no idea he even still worked there until last night, my husband pulled into the parking spot that is dead and center to the restaurant. We could see everyone inside, including creepy ex manager. They could definitely see us in our car. As we pulled into the spot, I asked my husband to please not park there because I didn't want to face my old manager. He refused and with the window down proceeded to call me a coward, saying I need to face my fears, saying he was standing up for me and trying to teach me to stand up for myself. He said loudly "why are are you so afraid your creepy ex manager is going to see you, (then he said my full name)?". I was shaking with anger as he wouldn't move the car. I looked at him and said "if you love me, you will move the car". He finally did after about 3 minutes of arguing that seemed like an eternity. I just felt like a spotlight was put onto all of my fears and insecurities. At this point, it wasn't even about facing this person from my past. It was about the person who is supposed to love me the most in the world and how he would not do this simple thing for me that I begged him to do. 

We got home and he continued to be a jerk to me. I tried to explain that my mind works differently because of my anxiety and I can't rationalize the way I feel, things are just the way they are. He ignored anything I said and kept calling me a coward. I hardly slept last night and am back at work now just shaking with anger and feeling anxious. 

A someone who struggles with this every day, being with someone with a "tough love" mentality is so hard and I don't know how to explain to him that I'm just different mentally. I don't even want to look at him now. I'm afraid to have children with this person because I don't want my kids to ever feel this way. We have been to marriage counseling and I feel like he did not take anything from it. 

Some words of encouragement and ways to approach him about this would be appreciated.