I am a 16 year old minor who is an very unstable stressful household, can I go about emancipation or switching custody without my parents permission?

The reasons for this is both my parents and I can not get along, I am emtionally abused and have been hit serveal times. Not a day goes by that me and my parents wont fight. I am though a good student, I work 2 jobs and can support myself. I take care of alot of the household chores and cleaning, make car payments and show I am maturing and growing up. Bascially at this point I would like to know if I could file for emancipation, I wouldnt like to live alone I would rather my friends mom have gardianship of me until I am 18 so I am still being taken care of and in a household just not so emtionally worn out and hurt. I was just wondering if this is a good start and if this could happen? I was also wondering if going to a counsler and getting a report to see how emtionally upset I am about his would be a good idea to purse this? Thank you.