I want to make a pretty small trip to see my boyfriend but I'm too scared??

My boyfriend is currently at a military camp for two weeks where I'll have no contact with him. On top of that, we're long distance so he lives about 2 1/2 hours from me (but the distance is closing very soon). Let me say in advance that I have a severe anxiety disorder, so some of this will probably sound a little crazy. I'm not a huge fan of driving long distances, I tend to get anxious about passing out/throwing up/not being able to continue my journey for some health-related reason. The longest I've driven by myself is ~30 minutes, and I've had my license for 2 years now (I'm 18).

What I REALLY want to do is go up and surprise my boyfriend as soon as he gets home from camp, meaning that I'd get to his house before he got home and surprise him there. I already told his mom and she said she thinks it's a very cute idea and that he'd love to see me, so this is something I absolutely wish I could just get up and do. My friends can drive 6 hours in one day but I haven't been able to because of my anxiety.

Being away from home really scares me as well, even though it's only 2 1/2 hours. I get worried about getting sick away from home.

Does anyone have some advice for me here? This is really something I want to work to and I think it would be a really nice thing to do for my boyfriend. Of the 3 1/2 years we've been together I've never been able to travel alone to see him, and I think now, after (probably) the hardest two weeks of his life, it would mean a whole lot to me.