If you are being legally abused (the law's definition, not yours) then you or someone calls Child Protective Services, who directly supervises your parents or places you with a foster family.
Child emancipation is something very rare. Say you were a child movie star making tons of money and your parents were spending that money on themselves. The court could (not automatic) appoint a trustee to manage your money and take care of you. That is what the the phrase means. It does not not mean normal 16 years getting a note from the court allowing them to go live with their BF/GF.

