How do I separate a shared asset, our newly bought car, so that I can gain sole ownership and possibly lower payments?

I'm moving out and eventually divorcing my abusive husband. He's been in a program for the last year, has shown great improvement, but is still a threat to me. We have one shared asset, a new car, and my name is in association with a few bills. My question is I need the car for work and he doesn't, how do I go about separating that asset? Are there any tricks I can do to lower the payment as well? I also need a lawyer to serve papers eventually along with a restraining order. If you can help with this, feel free to post an estimate for how much it would cost for helping me file for divorce.