You cannot choose where you live. If you believe you are in danger, you should speak with a trusted teacher or counselor. You can also contact your local children services agency and see if the social worker believes that there is an issue that they could help with.
As to living with your father, if he desires for you to live with him, then he can go to court and file an action for such. If he doesn't go to court, it doesn't mean he may not want you to live with him, just that he is unable to properly met your needs to show a court that he should get you. Especially if your mother would fight him on such. He may also be behind in child support which the judge would hold against him.