Keeping my car and filing for bankruptcy

I am debating on wether or not I should file for bankruptcy. I am currently 30k in debt, mostly accumulated in a previous relationship (he too is in debt and it is agreed that we will take care of what is in our name). Here is my problem. I am currently paying for a car (bought used, and has a year and a half of payments left), it is NOT a lease, once it is paid off, it belongs to me. I don’t see the value being more then 6000$ on it as it has almost 150,000 kms on it and is presently 6 years old. I am a single mother of one (with another one on the way withing the next 4 weeks) and I need my vehicule for doctor’s appointements, daycare, work (when I go back) etc. Even though I have access to public transportation, just to go from home to daycare to work would cost me about 3 hours a day by bus but by car it takes me 30 minutes. There is no way I would be able to have my kids up at 3 in the morning just to be able to have myself at work by 8am. Should I file for bankruptcy, will I have to give up the car? This seriously concerns me.
This seriously concerns me.

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