The only chance you have is to find another girl that actually likes you, start going out with her, distance yourself from your friend but don't completely shut her out, and when she asks you how come ya'll haven't been hanging out as of late tell you've been dating this new girl....
Now this is a very small chance, but she MAY get jealous and realize she took you for granted and all this time she actually liked you more than a friend and wishes she was with you as your girlfriend, instead of this new girl. Upon which, you now have choices.
The more likely chance though is she was never into you like that. The reality of the friend zone is subconsciously she can't see herself having sex with you.