Caregiver driving expenses.

The person I live with changed terms of agreement 3x. He now demands I drive him places in my car, on my time, at my expense. He has his own car, can drive but says its too much hassle. He told a neighbor he uses me as his Chauffeur. I gave him a brochure for free senior ride service, he threw it out. If I don't take him places, he gets angry, verbally abusive or retaliates in some way after I've left the house. His errands and med appts across town are draining what little is in my bank acct. I have politely asked for gas money, he gives $5 or $10 and says that should last a month. Obviously I'm being taken advantage of and need a written caregiver agreement on this, but I bet he'd refuse to sign it. If he is requiring and demanding using my car, isn't he responsible for all car expenses: gas, maintenance, insurance, and yearly registration?