You do NOT have to "wait a few years to save enough money" to change your situation. Have you talked with a lawyer? Have you talked with a DV advocate about the abuse you alluded to in your first posts?
There are all kinds of resources--including financial ones--to help you. Living with abuse is NOT a good alternative to being strapped financially for a while. Lots of women here have left, and even when money is tight for a while, they have found it preferable to living with abuse (or even active alcoholism alone).
Your child is an adult, so that isn't a factor.
If I were you, I'd swallow my pride and ask my parents for help. You said you didn't want to "worry" them, but don't you think they'd be a lot more worried if you stayed for the sake of not worrying them?