What are my options to leave home legally?

ok so here is the thing, i am 16 and i just cannot live with my grandfather anymore. he isn't even the guardian and he takes care of me and my sister but i just can't take him yelling at me and calling me names any longer. we move all the time and i'm sick of that also. we're in a motel right now and it's a mess and we hardly have any food. my aunt who is the guardian doesn't even live with us. she isn't doing her part or anything. I do want to be emancipated but when i talked to my grandfather about it he completely pushed it away. he said " you're on your own i'm not getting involved, talk to your aunt." but i can't talk to her because she'll say no and she'll be watching me closely after that. i'm not aloud to get a job right now because we're in a motel not even in a place yet because we don't know where i'm going. I am NOT contacting any place that will get me out of here and get my family in trouble because heres another thing. i have a boyfriend i've been with a few years now (he is older than me and that's all i'm saying) my grandfataher help me see him, but if i do anything to get him into trouble my grandfather would do something to get us in trouble. what can i do? can i do emancipation on my own or sign for something to get away from my family legally? but i don't think they would emancipate me because i'd go with my boyfriend, who i would not mention there, but i would take care of myself and get a job and go to school still. i'm just stuck. tremendously stuck. i wnat to leave my home and be happy. what can i do legally?