Need advice on my high school life...?

[Caroline]

Hi, I'm am a freshmen in high school and I need some advice on how to be happy with my life as it is, or how to change it.
You see, my whole life my parents have really sheltered me and been overprotective. I'm not allowed to hang out with people she doesn't know, not allowed to be on Facebook, and the cell phone I have is the most basic possible version and I can only use it if there is an emergency. I feel soooo disconnected from everyone. Over the years, I have never had any close friends. There are a few reasons for this. One of them is, when I was a young child I wasn't really around anyone other than my exact family- not even close relatives- so I've always been very shy, self consious and a little bit nervous in social situations because I am in them so often.
The other reason I don't have any close friends is that, even though I am a freshmen in high school, I have literally only gone over to friend's houses 3 times in my life. Everyone else hangs out with their friends (and even people they're not close friends with) almost every day; they can just text them and drop in to their house. But me? I'm not allowed to. I live in the country (not in the middle of the town) so I can't just walk to people's houses. Even if I did live in town, my parents are too overprotective to let me walk around alone (even though it's a very small, safe town).
It's so frusterating and sad because I feel like I have no friends at school. Sure, I talk to some people, but not for very long- they have other, closer friends. At lunch everyone talks and I'm just too shy to be a part of it. I'm not in any sports or groups because 1) I'm too shy and 2) I wouldn't have a ride to get to any meetings anyway. Plus, my mom doesn't even let me go on some field trips because she worries about me so much! In sixth grade, everyone went on a 3 day camp trip. I was the only one who had to stay at school, I sat in the office and did work all day. Then at lunch, I had to sit alone where the 6th graders usually sat, and just felt so embarrassed to be the only 6th grader (the people from different grades were all eating lunch then, but I was alone because I had to sit in the 6th grader's designated area). I felt so embarrassed, and I feel like that a lot when I am the last picked for a game, the only without a partner.
I don't even know about the stuff other teens my age do. Can you believe I don't even know how to apply makeup? Never have, and I'm a 15 year old girl. I don't have any makeup to wear. I've never been to a dance before. Would not have a clue how to navigate an IPhone, don't play any of the video games other kids do, or use the apps they use. My life is really empty. When I'm at home, I basically do homework, read, walk around with my dog, or occasionally watch TV. It's not that we don't have money, it's just my parents don't understand what kids my age are doing. They think I'm happy with how my life is.
I am so sorry for this long story. I guess I'm just looking for advice. Is there any way I can convince my parents to give me a little more leeway, a little more oppertunities for social interaction? I don't feel close to either of them so I'm not comfortable even bringing my feelings up. But I'm so dissatisfied with my life. Thank you so so much if you read this and if you have any advice.
I feel
I am so thankful to everyone who has answered, it's all so helpful and supportive and really made me feel better! Thank you, thank you, thank you! I will choose a best answer but can't even decide who gave me the best answer yet.