Husband might try to have me arrested for grand larceny?

Me and my husband are divorcing but have not filed the papers yet. We have two cars, one is mine and one is his. They are both in his name because he pays insurance on both of them. We have a 3 year old son together and I have told him I want to take him to the play house or park and my husband said he will call the police and file kidnapping charges. I found out that he cannot do that because we are still married and divorce proceedings have not even begun yet and no child custody order is in place. What I am worried about is that if I do take my son, could my husband call and say I stole the car even though he bought the car for me? Ive been a stay at home mom for 3 years and recently got a job so I can afford the divorce and move out but I cant do it until another 2 months. Could he file larceny charges for taking my own car? Both the title and car insurance are in his name and I take it to work with me and everywhere else.