Is it possible to get emancipated at 15?

I am a 15 year old girl and I want to move out of my house. I want to know if it is possible under special sercomestances. some people might see me as a bad kid but I am really trying to be good. I stopped going over to my dads house about 6 months ago.my dad was really abusive emotionally and physically. he did not hit me that much but it was the emothional part that really hurt. he would say things to me that just hurt me so bad I felt like I was nothing and didnt matter. we had a leagal battle with my dad for months. finnally the court ordered me to live with my mom. but the abuse didnt stop. I would get horrible phone calls from him at leat once a week. but now they have almost stopped. a few days ago I got into trouble with the cops when I was at my moms house. it was some pretty serious charges and I know that I did wrong., really wrong, but my mom thinks that I am just upset because I got cought. I was drinking with some friends and the person with the car was way to drunk to drive so I drove my friends home with him in the backseat and we got pulled over. I feel so foolish for doing that, it was the stupidest thing I could have done. but now my mom is trying to send me back to my dads house. I have tried everything to get her to change her mind. I am definately trying to change now that all this has happend. but the thing that hurts and scares me the most is going over to my dads house. I am completely terrified of him and I am scared of what he will do when I go over there after he found this out. the only thing I can think of is to get ammancipated. I guess my question would be is it possible? is it even the right thing to do if my mom doesnt want me and if I cant live with my dad without fear? I dont even know if it would be possible for me but I am just trying to find some way out of this mess I’ve made for myself. please help me.