Firstly, college is not for every one. Have you considered sitting down and asking yourself if you are having all this anxiety over college if it is because of not getting in or the fact that you might get in? Secondly, I know this is hard and when you are in the well of depression you can be hyper sensitive to your parents/family, however you only have one life and you need to be the person living it; because no matter what happens you are.
I believe you are a smart person. I can tell because you are here, reaching out for support, working on yourself, and that makes you smarter than the majority. And when a college accepts you they will be the lucky ones to have you.
Colleges have lots of ways to make sure you can pay to come to their school or they wouldn't be in business. If your parents are so supportive and determined than they will co-sign on a loan; doesn't mean they pay for any of your school just says they will back up your word that you will pay back the loan. I am currently a full time student and if you have any specific questions let me know. Personally I took 6 years after highschool before I went back to college. If I hadn't had taken that time to learn about myself and grow into the person I am now I wouldn't have found the field I love today.
I hope this helps keep your head above the water. Lots of love and hope coming your way from me.