Ah, yes. That seems to make sense. Are you aware of the mind being conceptualised as ID, Ego, and Superego? If not, ID = impulse (eat, sex, sleep, warmth), Ego = consciousness, Superego = learnt unconsciousness (maintains moral code, rules, and 'should bes' based on life experience).
Following what you posted above about the success when in a 'normal' setting, and failure when not, then it may be said that you have a strong superego. Others would say that you're listening to or being swayed by your conscience. According to a strong social norm, internalised in the unconscious, it 'should not be' right to have intercourse in a public setting. I used to wake up when I was shot or stabbed, or when I dropped from a great height (because it 'should be' right according to the superego) - in waking life, I began to convince myself through mere words that I couldn't die, and so I should fear nothing. With perseverance, I no longer woke up during these moments. I just stood up and carried on. In essence, I reprogrammed my conscience or superego.
Ultimately, assuming this is the case in your scenario, then I recommend 'speaking to yourself' (essentially altering you conscience) in an attempt to establish the fact that during these moments you fear nothing, and think it 'should be' right.
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