I left somebody like that too - all of a sudden, threw everything I had into garbage bags, grabbed my kids, clothes, very odd things off of shelves into the minivan - hit the gas pedal. It was quite a lovely mansion with our nanny living in the apartment over the garage and I had made beautiful gardens. But think of the gift and the legacy you've given your children: you are teaching and showing them that NOBODY has the right to treat them that way, and that they are NEVER to treat anybody that way themselves. and never think that they did not see or hear their father treating you that way... kids see every minute emotional detail. Their hearts are exquisitely open to everything around them.
You are in great pain right now, but you are every mother's hero, and you are your children's hero. Truly, you have sacrified yourself for them, and for all of the right reasons... the reasons that will lead to healing for all of you.