Even if you otherwise qualified, which you do not, your history of suicide attempts and running away would mean that an emancipation petition would immediately be denied.

We do not emancipate abused children. There is NO home situation that is bad enough to qualify a teen for emancipation. Emancipation is reserved for those who are already living outside the home, managing their own financial affairs (that means, paying all your own rent, utilities, food, clothing, transportation, insurance, medical care, school fees and supplies, staples, and all the other incidentals of life, alone and unassisted) and who need the legal protection of emancipation so that they can keep the light bill paid and negotiate their rent.

If CPS does not see the situation as bad enough to remove you from the home and your dad is not willing to take any action, then you're going to have to tough it out. All I can suggest is that you call CPS and the police every time there is physical abuse.