I have a controlling friend?

I've known her my whole life. And even as kids, she was very bossy. I mean, i never really liked her, but our parents are best friends and we do a lot together. And she's a total ***** and I honestly don't know why I still hangout with her. She always brings me down, and we always do whatever she wants to. We've fought a lot last year but this year, I kept everything inside and I just need to let it all out. It's not like we don't have fun when we hangout. I do, but I'm sick and tired of her being so bitchy all the time and being a spoiled brat. She always brags about how 'smart' she is and she always calls me the 'stupid one'. If I said that I thought I did pretty good on a test and I felt pretty smart, she looks at me weird and says 'But you're not smart'. I don't have many friends so if I drop her, I won't really have anyone left. I don't like talking to other people, I think I have social anxiety. She also makes fun of how lonely I am and how I don't have friends. When I want to go somewhere, but she wants to go to another she says ' I don't care. You can go there alone if you want. But I'm not going there.' and then she starts to walk the other way and I just end up going with her. Also, she's so effing lazy. Our sleepovers now is her on her laptop on her bed, and she hands me another laptop and thats all we do. Like wtf? Thats not a sleepover, I can do that at home, and still have more fun. Towards my sister, she acts all nice and sweet, and hugs her and all that ****. Once my sister leaves, she turns around and just acts like a total ***** again. She acts nice to everyone but me and my other friend. Let's call the ***** Lisa and my other friend Sarah. Lisa has pretty big chest and Sarah doesn't. And Lisa always teases Sarah about it, like 'My boobs are sore today' and then she looks over at Sarah and says 'You wouldn't know. You dont even have boobs.' And I have like, the same size as Lisa and she would still make somewhat of a same comment to me. She also says that Sarah is too skinny and its disgusting just cause she isn't as skinny. And she always makes fun of her other friend how fat she is behind her back. But if someone is skinny she calls them anorexic. And she always calls me a *****. Like 'Get over here, *****' 'Where is that *****?' and she always makes me feel invisible. Like, im standing RIGHT there and she's like 'Where is that *****? Oh, you're here? I didnt see you.' I really can't stand up to her because she's really good with words and she always wins. What should I do/say? xoxo