Can I place a restraining order on my mother?

I live in CA and live in my mothers home with my mother and two siblings. At a young age I suffered under verbal and emotional abuse as well as physical abuse from my mother when I was younger. Recently she's become a bit more unstable and has made numerous threats about having my siblings and I beaten up by her people she knows to degrading us and even claiming that should would file false charges to police about being sexually and physically abused by us. My siblings and I want to place a restraining order on her but have a few concerns. First does our case warrant a restraining order? With her being part owner of the home will we be the ones forced into the street? I'm worried because I'm an expecting mother and fear that with her false allegation she may try and take my unborn child from me. Any response will be helpful and help clear any fears I have on possible proceeding with the restraining order.