my dad is emotionally abusive

My dad is the same way. There are domestic violence hotlines that you can contact. If it is not serious to the point of putting you and your family in danger, then I would suggest therapy. You say he doesn't realize it, so there may be a chance to fix the problem. Do not wait for something to set him off, you never know if a situation will escalate to violence.

It's hard to deal with when people close to us inflict emotional pain on us. My personal advice to you is, try to identify the triggers that sets off his abuse in everyday life, and try to avoid them while you seek help to minimize danger. There are many sources of help provided for abuse, including the National Abuse hotline and the Childhelp National Hotline. Remember to be proactive in contacting someone who can help you and your family because there is no shame in asking for help for a difficult situation. Good luck.