I'm going to ask my boyfriend to wake his kid up to come get me
Why are you asking your boyfriend this?
He knows my car is out of gas and he could easily drive me home
It's fine to ask for help when you need it. As long as it's not too much trouble for him specifically.
I think I can convince him to get me home.
While I agree that you have a right to ask for help in these situations, and that others should come to help, maybe you shouldn't be asking your boyfriend specifically.  If he has a sleeping child at home, you could probably call someone else who would be happy to help.  That way your boyfriend is not unduly burdened.