I think the urologist it's for when you have a problem to get diagnosed or fixed which it's not your case.
The sexologist might help as he/she will help you on the psychology side.
But as a starter, tell yourself that nothing wrong happened! :)
To the f*cker who was flashing me when behind me and from the inserting line on the left: you can go to driving school again.
Apparently me trying my brakes made him stay very far from me.