Anxiety Self Help

I'll try to keep this short,
I have suffered with acute anxiety for about 4 months now and have tried everything to overcome it, it is better but sometimes I have these huge anxiety attacks which are absolutely terrifying. These aren't panic attacks, they go way beyond panic attacks.
So the story of my latest one:
I went to visit my dad last night in hospital, it's about 30 miles away. I knew the drive was going to be tough as I was already feeling disconnected and afraid of being with people (this includes my family) when I got to the hospital, I was with my dad, sister, partner of 6 years and my baby, all of whom I love dearly, but all of whom I was feeling completely disconnected from. Anyway, this anxiety around my family caused me to start crying in the car on the way back, my anxiety escalated into a feeling of the world not being real, of the people I was with not really being there, I felt completely alone and confused, a feeling like (metaphorically) floating around aimlessly in the universe with absolutely no idea what I'm doing there and feeling absolutely terrified and alone. Eventually I collapsed, by which time I was really crying, exhausted, my mind went quiet and I felt like I was about to tap into something in my head and everything would click into place and I would be ok, but then I heard my baby screaming and I was snapped out of it (to my annoyance) I just don't know what to do to make it all better, and to feel like I am real and connected to people.