Teen Pregnancy Question

Please read before you judge (ik people look down on pregnant teens a lot) 
I'm 16 about to be 17 in a month, I'm pregnant by my boyfriend who I've been with for 3 years. Now the thing is, being that I'm very distant from my mom I've always planned at a young age to leave early. I graduated high school a month ago and I planned on moving to attend school (I mainly wanted to attend school to get away from them) I work 2 jobs, I've been working since the age of 14. A lot of times I work till close (midnight) trying to earn some more money (I mean after all, I'll be having a baby in about 8 months). The thing is, my mom has been driving me crazy a lot, she threatens to get me fired, she borrows loads of money from me, promises to give it back, but doesn't. The only reason why this is hard is because it's kept me back from getting a car, paying for my application fees and stuff. I basically feel like I'm working for her more than myself. My boyfriend works as well and figured it'd be best to come and stay with him so we can raise the baby together (and there's no space at my house). I'm afraid I might get stressed out and lose the baby, because often times my mom makes me feel quite suicidal. In order to just leave, I figured I'd have to be emancipated but my mom would hate me for life if I did that. Is there anything I can do? I live in Florida where the laws might be slightly different.