Husband’s driving causing anxiety

My husband loses his patience easily when he’s driving, he curses other drivers, tailgates, and just gets aggressive with very little reason. I can cope with it to a certain extent, but it has started to upset my daughter (17 years old) who is dealing with anxiety issues – she gets scared and anxious when he drives. He’s not dangerous, it’s just very stressful. He usually wants to drive if we go out as a family, so I’m not sure how to handle this now that it’s affecting my daughter and increasing her anxiety. When I try to talk with him about it he gets defensive and will get moody, which also ends up creating tension. Any advice?