help my mom abuses me and i want to go to a foster...

help my mom abuses me and i want to go to a foster home but i still kina love her. im afraid to ask to be adopted here because im afraid the police will come and take my mom to jail. i still slightly love her. i get yelled at and beaten on a weekly basis and ive just gotten beaten 5 mins ago and im afraid she will come back. i sont know what to do. everything is fine ecept for my mom. i love my dad so much he is the only one nice to me. i also love my 2 yesr old sister who gets yelled at aswell. ii only want to be away from my mom, not my family. but the thing is my dad is poor and doesnt have a home and frequently stays at our house he also gets yelled at too. i have no idea what to do. i want to just wait until my dad gets a home and job but that wont happen until a long time and i dont think i can take it anymore. i also live in a rich apartment and im really grateful for that and i dont really wanna let that go. im not asking for sympathy. just advice.