Should I ask my parents whether or not my girlfriend and I can spend the night together?

My gf and I have been dating for almost 2 years. I’m a freshman in college and she’s a senior in high school. On the 24th it will be our 2 year anniversary, my family will be out of town for the weekend. I wanted to spend the weekend with her at my house so we could have some quality time together.
We’ve spent the night together 3 times before without getting caught, but I’d like to tell them. They aren’t the strictest parents and they leave us alone at the house once in a while, but I want them to be ok with us being together overnight.

(Sorry for the long detail)