I went thru a lot of this with a friend of mine and her husband. He was abusive, threatening and manipulative.
First of all, save every text message and email, and record all phone calls. Then stop talking to him on the phone directly and just record his messages. Keep a log with dates too.
It's not his business if you have another boyfriend or not, so don't spend any time defending yourself. He has a legal right to visitation unless there is an order against it, which it sounds like there is right now. I don't think YOU should be the supervising chaperone under any circumstances - it keeps him from being a parent, and it will just be another opportunity for him to harass you. Have the state provide someone if he is dangerous, or have them suspend visitation.
My friend withheld visitation for a while because her husband didn't have an appropriate crib or floor mattress for the 2 year old. When he finally got the necessary equipment (and he had to provide photographs to prove it), he wanted to "make up" the lost time. She fought it, but then relented when we realized he would now be giving up every single Saturday social night to care for his child. He ended it himself within 2 weeks. So I think your boyfriend is doing a whole lot of posturing just to control you, and he's a lot less interested in child care than you think.
I think DHS will say NO to a 9 month old staying in a tent, but the lack of a license & car is not an issue for an emergency. One would hope that every parent would call 911 in an emergency and not try to drive their own child to a hospital. However, if he doesn't have a car seat or borrowed vehicle in which to pick up his child, then he has no case. I don't think "not wanting to be away from her at night" is a valid argument as far as the state is concerned - I understand how you feel about structure and wanting to be with her, but I think HER safety is the only argument you have. Whatever the reason is that DHS has suspended visitation is going to be your best weapon.
My friend had a restraining order, which you should get if he is threatening you. In Massachusetts where I live, if there is a restraining order, the child is "exchanged" at the local police department. That's pretty interesting. So your boyfriend would have to borrow a car, driver & carseat (or take a taxi and install a car seat), and meet you at the police station in YOUR town - never mind where he lives. You hand him your daughter and one of you leaves while the other stays in the police department lobby so that there is no chance of any conversation (threatening or otherwise) outside.
My friend's lawyer also advised her to get a post office box so that there was no chance that her ex could get into her mail (particularly from the lawyer) and so that child support could be sent without him using it as an excuse to drive by her house. You should get a support order NOW and have the state garnish his wages if necessary.
Also, IF he ever gets to visit with your daughter, DO not pack diapers and so on - he's the responsible dad and he needs to be prepared with essentials. You can have your lawyer or case worker help you provide him with a list of what she eats, what size clothes & diapers she wears, etc. I think he will get tired of this real fast, if he does it at all.
So, get a lawyer, or get legal aid, and get a restraining order. And get court-ordered child support. Anything he wants to communicate, he can communicate through his lawyer who will talk to your lawyer. Period. That should take care of things for now.