I am planning to leave/ghost my husband

Me and my husband have been together for almost 6yrs, have a child together (2yr old) and our marriage has hit the fan, at least for me. I have been dealing with him mentally and physically abusing me for the longest without even feeling sorry, my daughter has started telling us to stop when we argue. Saying he takes me for granted is an understatement, He refuses to acknowledge my feelings, so I stopped telling him how I feel. I have started loving myself more lately and I am building the courage to leave. I am planning to go to my mom( she lives out of state) and just leave while my husband is at work. I cannot tell him I’m leaving because he would physically stop it, maybe “promise” to go to counseling but never do it. After I leave I am planning to not talk to him anymore, he would talk to our daughter through my mom’s but he would not hear from me anymore. I would have to come back eventually to get the rest of my stuff after I figure out a place to rent and the divorce. Has anyone ever done this and has advice? Just up and left with the kids without telling their spouse?