I found a technique on one of the american paruresis links that seems to work if I am not in a small area or with people waiting behind me, ie no performance pressure.
Breathe out as far as you can and then hold your breath for as long as you are able. You can alternate holding your breath and taking short breaths if you feel a bit dizzy.
You should start to pee and although it sometimes stops and starts, this seems to work most of the time.
I haven't used a cubicle for a while now and it gets easier the more times I try it. I'm not cured and am still nervous about urinals but try it for a while. Good luck.
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