Michigan Law about moving out at 17?

Can I move out at 17 if my stepfather is keeping me from seeing my real father and accusing mr of being on drugs and having sex every time I leave the house? He's being verbally abusive, calling me a prostitute and saying he'll slap me, he has physically grabbed my hair and threw me into a sink before when I was 16. Im not allowed to see any of my friends o go anywhere. My mother says she'll give me permission to move in with either my dad or a friend that can support me. Is it legal for me to move out with her permission and no one can tell me to come back or come get me? Can he call the police and have me put into a juvenile facility? Am I legally considered not a minor in Michigan. I need to know asap. I can't take another day of being accused and scared of leaving my own room. I can't take being spit at. I need to know how I can leave without being told to come back by anyone. I don't have money for emancipation.