Sexual Abuse Support Group
Sexual abuse is a relative cultural term used to describe sexual relations and behavior between two or more parties which are considered criminally and/or morally offensive. Different types of sexual abuse involve: Non-consensual, forced physical sexual behavior such as rape, incest or sexual assault, or psychological forms of abuse, such as verbal sexual behavior or...

For what it's worth, my view would be that the best way to overcome your fear would be to learn self-defense and improve your physical fitness. That could improve your outlook both physically and mentally.
Rapists are cowards. They are far less likely to attack someone who is competent in self-defense. And it will make you more confident generally. Seems like it wouldn't hurt to try it.
I like Richie's idea of learning some type of self defense. It will boost your self confidence for sure.
I have carried fear around with me for more than 30 years and, over the past 3 years since I remembered the childhood abuse, I have worked to release that fear. I worked with a therapist and my inner children. I have worked hard to help my inner children become less fearful and I am happy to say that most of the fear is gone. I am working on one last bit of it but I feel this is the last of it.
Have you worked with a therapist? Can you tell if the fear you still have is from the past or if it is because you are imagining what will happen in the future? Either way, a therapist trained in trauma healing should be able to help you move through it.
Take care
My rapist also plead guilty to avoid prison time. He is not getting any at all.
But the fact that yours did it to several people and they are STILL letting him get away with it, that is just beyond fucked up.
I saw that you are from PA. So am I. I can't help but feel that that has something to do with it. They don't take rape seriously here.