How to talk to my parents about driving rules?

I am 18 and sill trying to get my license because my family dynamic is very odd. My father has little to no say compared to my mother, even though he never lets people walk all over him, and my mother is extremely, /extremely/ domineering. Whenever I drive with her in the passenger seat, she often grabs the wheel, fiddles with the controls, and almost causes accidents. I am terrified to drive with her, but she claims that she won't let me get my license or insurance if I don't allow her in the passenger seat. My father "agrees" with this because he is too tired of her control freak behavior to argue any more. They both say that I need to be able to drive with dangerous people in the front seat, but in my personal opinion, my life is more valuable than this experience, and if I ever feel unsafe with anyone in the car, I will pull over. I am not being melodramatic, I honestly do not feel safe with her in the front seat but I /need/ to be able to get my license before I go to college. Does anyone have any suggestions as to how I could approach this situation, either with my parents (I have tried and failed many times) or another adult that could help out here? I have the required number of hours, but I really need her to sign off on my insurance and everything else. Thank you!