Why are you so anxious to get away? If you're being abused or harmed, call law enforcement or CPS and make a report. If you're just having trouble following rules, you're out of luck. If you can support yourself and have a valid reason to be "emancipated" then you may file a petition for emancipation and ask the court to remove your disabilities as a minor. Moving in with a friend will only expose the friend to legal problems. How much longer do you have until you turn 18? I suggest talking to an experienced family law attorney to figure out an answer.
I am not intending this to be legal advice, because I don't know the particulars of your situation. Call me if you would like to discuss this or other isues.