Dear M.,
I hear what a dilemma you feel you're in. It's hard to understand too much about your situation from the little bit of info you've provided, but here are some questions that you should ask yourself (not meant for you to answer them publicly). Perhaps in the course of answering these questions, you'll gain of sense of what to do.
It is the role/job of parents to provide for their young children's needs with a goal of *encouraging their growth toward autonomy*. What do you feel your parents' goals are as far as you're concerned? Do you feel that they want you to be independent? Or, do you feel that they want you to care for them? Do you feel that they are acting in accordance with their goals? (In other words, are their actions compatible with the things they say?)
My reason for asking these questions is that if you have a better understanding of where your parents are coming from, you'll be able to plan a more effective talk with them.
I don't know your parents and I don't know the dynamic in your home, but I do think that they are likely to want to help you achieve your independence and autonomy (since that is the high water mark of parental success). I think if you present your quest for independence to them in that way, they would be supportive of you.
There are lots of other factors, of course, to consider, probably chief among them being financial considerations. But, if you can support yourself and your son, then the only thing that remains is giving your parents the opportunity help you become independent by supporting your creation of your own home.
If you're not yet able to support yourself, then this would be time well spent, while you're still at your parents', to get yourself ready to support yourself and your son. How would you do that?
Finally, although your son's dad is not in the picture, is he or his family able to assist you financially?
I hope this has been a little helpful! First comes the desire, then the action! If you think it through a little, your path will be clear to you. Best of luck!