Ugh my parents are getting on my nerves.. what should i do?

i'm 21,have a full time job,go to college full time,pay my own bills,bought a new car in my name,pay college as well... and still have time to run two business on the side.my parents try to have say in everything.my mom isnt so bad besides the fact she and my dad say hateful things about my bf of 3 yrs. my dad is the worst one...he says my curfew is 12am (so is my 18yr old sisters),i can't go most places without her,i have to always answer thier 50 calls when im out,they don't agree with my choices or my ideas for my future.theyve threated to throw me out of the house if i go against them(ex.marrying my bf,finishing college,moving out)he always insults me calls me a loser,MF,stupid ***. we never resolve anything.& what he says always stays in my head & i feel like i'm not good enough.ive told them we should get family counseling,but my dad says no.he said i need to see a physciatrist.im trying to prove im an adult but they treat me the same as my little sister. what should i do?