Additionally, the age of consent and the age of majority are two different things. The age of consent means that stat rape is off the table. Reaching the age of consent without also reaching the age of majority (in NO state is the age of majority younger than 18) does not mean that there are no charges that can be filed; it means only that of the charges that can be filed, one of them will not be stat rape.
If at any time after he reaches the age of 18, while you are still under the age of 18, you cross state lines for the purpose of having sex, it doesn't matter a hill of beans if you are over the age of consent for your particular state or not; there are FEDERAL charges that can be made against your bf and he will go to a FEDERAL prison.
And regardless of any of this, if your parents say no, it is no. The law will NEVER tell a parent that they have to allow their underaged child (age of consent notwithstanding, if you are even one minute under the age of 18, you are underaged) to have any kind of contact, sexual or otherwise, with someone they do not want her to have contact with. As long as you are even one minute (she says again) under the age of 18, not 16 but 18, what your parents say goes. If they say you cannot even be in the same room with him, then you cannot. Period. End of story. If they say you cannot see, talk to, phone, IM, pass messages through a friend, leave messages on Facebook or myspace, and any other form of communication you can think of including telegrams (singing or otherwise), carrier pigeons and smoke signals, then you can't. Period. End of story. And the law will back them up 100%.
Yes, this means even after you are 16. 16 is not the age of majority.
Are you beginning to get the idea here that you both need to keep it zipped a while longer?