Going to college: Getting away from parents?

I'm going into high school, but I someday want to go to college. My parents like to pick on me and put me down and have done so for all of my life. They make me feel horrible, but I don't want to leave them for some reason. I feel guilty but then I remember how they hurt me and I just want to leave and never come back. We definitely don't have a normal relationship, to say the least. Has anyone left their parents behind and started anew at college?