Parents have me in a lose-lose situation

I have contemplated calling the cops or abuse hotline many times over the course of my childhood for the physical abuse my parents have put me through. My dad has slapped, kicked, hit my head into a wall, made me stand outside with bare feet on cement on 90 degree weather; and my mom isn't much better, with throwing whatever is in her hands, hitting my back with shoes, she's even hit my back with her hand so hard she hurt her own hand. And the list could go on but the reason I haven't asked for help yet is because they've told me and my brother that we can call the cops anytime and they'll be taken to jail, we'll be put in foster care and we'll never go to college, get nice clothes, or play video games. So basically I don't know what to do anymore.