When she starts yelling at you, stop/pull over at the earliest point possible and tell her to get out of the car. Most people are taken aback by this because it's something they almost never hear. She will probably then ask why, which is your cue to explain to her that her yelling is distracting you and you do not feel safe with her in the car and are worried about having an accident.
By doing this, you are showing to her that as you are the driver, you are the one in control and the one with the authority - if she won't listen to your rules you are free to refuse to accept her as a passenger. Equally, if she doesn't like your driving, she is free to choose not to be a passenger (a fact you may wish to remind her of).
Otherwise, you could try asking your dad to have a word with her perhaps? If you have all three of you in the car at the same time and your dad is agreeing with you about her being distracting then she's more likely to back down.