You need to show a judge you can support yourself and do adult things. You need to get a job and show that you can get a place to live on your salary. You can get a driver's license as an emancipated minor but it will be very hard to get insurance (meaning very costly). This is probably something you could do yourself. If you are unable to do so, maybe you aren't ready to be on your own. Finally, you have to tell the judge why.