Sorry to hear of your current housing situation, things sound very challenging indeed.
I would like to suggest that you get emergency specialist housing advice:
Shelter 0808 274 1338 (8am to 8pm weekdays and 9am to 5pm weekends).
If your dog is a registered assistance dog it is not lawful (Equality Act 2010) for housing providers to discriminate against you because of the dog. If however the dog is not registered then you don't have the legal protection and unfortunately s/he is going to be viewed the same as any other pet. Obviously living in a car isn't ideal for your dog either, The Dogs Trust offer support to homeless dog owners: https://www.moretodogstrust.org.uk/help-with-finding-accommodation/dog-friendly-hostels
I really hope you are able to get some safe and suitable housing sorted soon,
Jean Merrilees BSc MRCOT
You can read more of my posts at: https://community.scope.org.uk/categories/ask-an-occupational-therapist