I do not know what is happening to make you feel unsafe, but your question causes me to be concerned about your welfare. It is also unclear if your bio dad is in the picture; if he is, could you turn to him for help?
In an emancipation proceeding, your parents have the ability to challenge the emancipation. The judge then decides whether or not it is granted.
Is there an adult with whom you feel comfortable speaking? A school counselor, trusted teacher, or even a friend's parent? You could even contact a domestic violence advocate and just talk to them. If there is an adult willing to become your guardian, then talk to them and see if the process could be initiated. You need support and guidance. I am very worried about your fear - please find someone who could help you. Involving CPS is a big overwhelming step, but it is an option.