My father hates me, always yelling at me, pleaseee helppp please answerr !?

Is this bad if my dad always yells at me.I get so nervous asking him a question, like to drive me somewhere or if i can go out because he'll just go UGH WTF NO ! and then a few mins later hell be like ugggggghh finee. He doesnt ever talk to me. he never asks me questons like hows your day or anything like that. Hes really arrogant, my stepsister hates him, hes really opinionated and if you dont agree witth him he'll rip you apart and make you feel stupid.I dont think anyone really likes being around him.And if i say im tired hell say "why what did you do all day that was so hard, how does school make you tired, you dont do anything." Or if i say i cleaned the house he'll say, "Good, thats what your suppost to do, you shouldnt expect anything from it. And when i ask him a question and i say dad hell yell at me and go WHATTT ?!!?! like im bothering him. I always feel like a bad kid. I dont do anything , i hardly ever get introuble, my grades are good, i clean the house all the time. Does he hate me, i always feel like he does. And no i cant go live with my mom. I try to spend as much time at my boyfriends as i can but my dad always goes why are you over there so much why cant you come here and makes my boyfriend and me look bad. My stepmom even says she cant believe the way is he is towards me. Help what should i do. We went to counsling before and all he did was tell her all the stuff i do wrong and how bad i am, so that failed.