Abusive stepdad please help

My stepdad is emotionally abusive and controlling. He yells at me over very small things (ex:wanting ketchup on my potatoes). I can never hangout with my friends unless he’s not home because he tracks me all day and will sometimes follow me to places. Lately some of my friends feel he is sexually preying on me and I’m not seeing it. When I’m in my room and I have the door closed he’ll come in without knocking. (Mind you I am 22). When I’m sleeping I’m in the morning he says he knows I’m sleeping because he comes in my room (I sleep in underwear and a tank top) I think it’s gross. He also knew I was laying out in the backyard tanning because he was watching me on our security camera. Any advice would be great please help. Am I and my friends over thinking this?