Harrassment/Bullying

I am being harrassed by a neighbor, to the point where I do not feel like I am able to come home. I live in a home with a Condo Association. My neighbor will park his car outside my home while his driveway remains empty, he sees me and makes extremely derogatory comments. The other day he was following me with his car, and while I was at a neighbors house, he drove around the block several times -as he approached the house he would honk his horn and stop in front of the house, basically he is trying to provoke a confrontation. I feel very unsafe in my home to the point I am putting it up for sale and moving out. I am afraid for my safety, and there is nothing the police can do...since it is my next door neighbor and he owns the home. Also, they told me until he causes bodily harm, they cannot do anything. I fear for my safety, and if I have guest over I fear for their safety as well.