Can I take the keys to the car without permission?
That depends. Why not ask permission?
I don't want to ask him and I want him to get angry
If you are having issues with this person, purposely doing something to make him mad will only make them worse. You should sit down and talk things out. When he discovers his car is missing, he might report the car stolen and you could be arrested for car theft.
I'm an only child and I want him to be angry at me, then maybe he will pay attention to me.
There are better ways to get somebody's attention than to make them angry. Just ask for permission and at least your relationship won't suffer that betrayal of taking his things without his knowledge.