If her parents give her permission to live independently, she may. If they do not give her permission to live independently, she may not. If they will not give her permission and she must be living independently to be emancipated, then she cannot be emancipated. It's as simple as that. Emancipation is not a right; it is a privilege.
In any case, Indiana requires that she be able to prove to the satisfaction of a judge, who will not be easily satisfied, that she is able to support herself with no assistance from her parents and no assistance from the government. The judge will also have to agree that the reasons for wanting emancipation are adequate.

