Can You Get Emancipated to Prevent a Custody Case

My question involves juvenile law in the State of:Emancipation, I am 17 years old. My parents are divorced. My mom has full custody of me. I do not live with my father and do not see him but once a week. He was very abusive to me whenever I was a child and still is. He does drugs and abuses alcohol. My father says my mom does horrible parenting, but it's all really because he does not want to pay child support. He has never acted like a father, and he stalks both me and my mother. It has been four years since they got their divorce. My mother and I both think that my father is going to try to take us to court to try to get custody of us, because my mother is in a relationship with someone. My mother and I, both agreed that I should get emancipated, (She has full custody of me) she said she would sign for me, how would I get emancipated, if she agrees with it and thinks it's the right decision?

What is your plan to fully support yourself?

A judge is not going to suddenly grant custody to your father just because your mother is in a relationship with someone, and that is not a valid reason for emancipation. What do you and your mother think emancipation is going to do that will solve this problem for you?