I completely sympathise. I am in my early 30s and only about to complete my degree next year due to similar problems at home back when I was your age. I completed my A-Levels at 18 but had to drop out of uni because my parents were pretty abusive emotionally and verbally. Like you I got everything I needed on a physical level but my self esteem was virtually non-existent and it's taken me this long to recover.
Now in my opinion, my friend, your challenge for this life is the development of self esteem, assertiveness and self care/love regardless of what abusive people try to do to you. Learning to deal with bullies will likely be a factor in your life as you go into the future as well. Your dad is a bully and what he says to you is more about him than you. Remember that as you go forward.
For now, your primary goal is to make it out of your parents' place alive without wrecking your future and your mental health.
For starters, I think it would be a good idea for you to finish your first year at uni and pass so that you can pick it up later on.
There are a number of options open to you. You could ask your tutors about finishing your degree part time. It may take a bit longer but it will mean that you can apply for housing benefit to get your own place, and I think you can go on the dole. You can't get JSA as a full time student. You could also see your GP and apply for ESA due to stress/mental health issues but Atos are making things very difficult at the moment for people already on it so you may find it hard to get it in the first place.
A similar option would be to complete your degree with the OU but it's very different to a normal uni and the grading is quite harsh for some reason. I'm strongly academic but found I had to work twice as hard to get a 2:1 with the OU as normal uni and have no idea why. It's part of the reason I'm at LJMU now.
Another option is to stay full time at uni, get your full student finance next year, use it to pay rent on a room and work part time while you study. Not ideal, but it would mean you could move out and you'd find your self esteem improves.
FIrst port of call needs to be your student welfare advice service. There is university counselling available too which means that if you choose to stay at home, you can learn to reframe your parents' attitude towards you and remember that your degree is your future. I wish I had access to counselling at the time for this - I might have stayed. Easier said than done when you are 14 years older and stronger though! You do get stronger btw - read books on self esteem and other personal development ones, they really do help. I recommend Gael Lindenfield to start with but go with the ones that speak to you. Look at books on bullying too as I get the feeling your dad won't be the last one to target you. Those of us who come from this sort of background tend to attract bullies in adult life.
So, first thing to do as I've said is make an appointment to see your student welfare people and explain your situation to them. General welfare rights advisors in your local area may be able to help too. Also consider seeing your GP and see if they can help you with treatment or counselling of some sort. You may need medication - I'm thinking you may be depressed as hell right now and you might need to retweak that brain chemistry! As well as those two things, start working on building your self esteem and awareness of bullies through self help books.
You are not to blame - this is your abusive dad's issue, not yours. Bullying is never about the target and even if you were a bit annoying, you do not deserve what is happening to you. You deserve to be treated with kindness, consideration and respect.
Much love xx