Trouble peeing.

Okay, so I have had trouble peeing for a few months. When I was younger and even now I had a public restroom phobia. I could not go if someone is beside me or is listening. I freeze up and no matter how hard I try, I can't go for nothing! I've plugged my ears, took deep breaths, made a peeing noise, closed my eyes and told myself no one cares what my pee sounds like.  We all go. Went on a long trip this weekend and I was to the point of tears. I wanted to go and had to go bad, but it's like my body couldn't relax long enough to go. I ended up in the hospital with a uti, yeast infection, and kidney infection. Does this happen to anyone else? Do you know of any ways I can overcome this?