16 and a mom, but can't get my license

Well first, if this makes a difference, I live in North Carolina in the US. I'm currently due next month with an unplanned but prevented pregnancy. I'm 16 and I desperately want to get my drivers license as my boyfriend has two cars. One for me and one for him. I currently have had my permit for 1 year and a half, and to get my next license to where I can drive by myself with another passenger (the baby) I have to have car insurance. This has to be on my parent's car insurance, for some reason they won't let us be on anyone else's insurance except our parents when we are 16. Both of my parents have already refused to add me on their car insurance, even if I paid for it. My boyfriend told me there is a license I can get that is a limited license, and I won't need car insurance for it. The only places I would be able to go is to work, school, and anything concerning medical appointments/emergencies. We have no idea how to get this license or what it's called. Neither of us can find information on it. This is stressing me out, if I had a license I could do so much more for me and the baby as my boyfriend lives 30 minutes away from us, and his work is 40 minutes away, making us spend a lot on gas because I don't have the ability to drive myself anywhere, I do walk when I can but nearly everything is about 20 minutes away from me by car alone. Any ideas???