manipulated and can't get out

My boyfriend tends to do what he wants when he wants. Like staying out instead of coming home and telling me when I call him before bed and he tells me he won't be home. Then tells me I'm crazy for caring so much and getting upset. That I need to be more understanding. This is just one of many times he turns things around on me. Everything that happens in our relationship to make me upset is my fault. I got to a point where I thought I was crazy and needed to talk to someone. I need to get out of this relationship. I have tried before but he guilts me back into being here. How do I get out and stay out for good? Please help!