Yes, as many others have said, it is 100% rape. I was in a similar relationship in my late teens - same thing. Took me years to finally admit that it was rape. The physical/emotional abuse were easier to admit.
Have been in counseling for it since - in Canada they do not report it unless it involves a minor that could still be exposed to danger, or if they feel that you're in direct danger yourself.
Please keep in mind that the 'boogy man jumping out of the bushes' rape is actually pretty unusual. Most women are raped the way you and I were. You are also very not alone...1 in 3 to 1 in 2 women have been sexually assaulted during their lifetimes. This isn't your shame to bear at ALL. This is something that was done to you and is HIS shame.