When is it ok to apply without your parents' permission?

OK for what? You won’t be arrested or have charges filed unless you steal their money, use their cards, etc in applying. You pay for the app fees if any, it’s fine in that department.

But if your parents are such that they’ll pull their financial support from under you for this sort of thing, it isn’t OK in that you might not have a way to pay for school next year, or aplace to live. Once you are 18, they are not responsible for you in most cases and can ask you to leave the house, have you kept out, and do not have to provide any info to make you eligible for financial aid. That’s something you are in a better place to assess the risk than any of us are.

If they’ll just say “no”, not gonna pay for that school, and tell you your choices from what they will pay, that’s one thing. If they kick you out of the house and shut you out of financial support, that’s a whole other.