stop worrying about that and dont blame yourself This is a current situation, have concers go to see a doc. for me you are having stress. check out your lifestyle again stay away from multipartners(I dont know you are married or not)
Does not sound that bad, but yes worrying and embarrassing with the wife or lady friend, so sounds like you just need some help down below, I dont tyhink you need drugs, so its either yoga or herbs, Google the 5Gs and look for pegym, they say that this is good, but me I'm on DHEA as your about that age were it might help but read about it first, you could do some cayennne, garlic and try erection tea, its lemon and honey tea with ginger, you could also try tribulus, this takes about 8 weeks to kick in and work to the book on it, I'm just about to start that as they say it sits well with DHEA, but you need to rotate these and only take for 5 days a week.
Good Luck
Talk to your doctor. If he doesn't take it seriously, get a new doctor. Yeah, it happens once in a while for all of us, (I'm 49, for the last 10 years, prior to my surgery, which significantly disabled willy) there would be an occasional night where I had the same reaction. But if it's happening more often than not, you should get it looked at.
Good luck