I'm constantly worried that the people I see on the street hate me. I see the people on the Internet and wonder if they're the people I see day to day. A lot of people on the Internet are trolls, of course, but a lot of them are telling the truth. They're saying what's actually on their minds. I can't help but wonder if the older people I see hate me because I'm young. I can't help but wonder if the minorities hate me because I'm white. Even if they act nice, are they really thinking nice things about me? Or are they just putting on a show, and they secretly despise me? I don't know. Is it normal?

I know what people are thinking about me most of the time. They are like a very easy to read open book. I'm good at reading thoughts through observing body language and facial expressions.
Where I'm from people aren't thinking about me. They all live in their own little worlds and think about themselves. This is also true for most people everywhere.
Don't get me wrong, I know bad people exist. I just don't think you have much to be terrified about.
My advice to him (not that he'll read this) is the same as my advice to you. People will criticise you at times, sometimes fairly, sometimes unfairly. Take it on the chin, even learn to laugh at it, and laugh at yourself. At the very worst, all criticism amounts to is someone else's thoughts (that may not even be valid). The rampant fear of criticism is what has caused most problems for my family. It's not about the criticism itself; it's about how you deal with it.
If you do meet people that judge you, who cares? If they are going to judge you up front, they are not the people you want to be around, and they don't have the kind of opinions you want to respect anyways! Love yourself and fuck what anybody else says!
Try not to worry about it. If you let it get to you too much, you could end up isolating yourself from the outside world, and all because of your own paranoia. Not fun.
You need to stop being extremely paranoid, it's a self destructive road that leads to nowhere. Speaking from experience.