Do you think that this is considered rape?

Me and my babys father got together when I was 14. A few weeks later.. He had put something in my drink and video taped him and his friends doing things with me.. i was consious but couldnt move and felt paralyzed.. i confronted him about it a few weeks later and he said if i told that they wouldnt believe me he even threatened me saying he would call them for me but they would put me a way and not believe me.. I stayed with him.. he got abusive.. began to throw me around everywhere... we lived together under my moms roof... i was 17 at the time.. We broke up i got pregnant and now we have a baby together.. As ive grown up ive realized alot of ways he took advantage of me. . a few weeks ago he was harrassing me about everything i did saying it was for the sake of the baby.. I dont want to get raped again.. he did it one other time in our relationship but that time. i told him no.. started to cry and he pulled my pants down and did it anyways.. I know people are going to call me stupid for staying with him but.. i didnt have another choice.. i felt like i didnt deserve anything else and plus my sister told me to get over it so who would care.. what can i do now that im 18,, to protect myself and my son from him..?