It is not necessarily true that you WILL make bad decisions. Many people will, but it is avoidable and you can train to not make such bad decisions.

A little practice of the right skills will make them salient in your mind and become the default response.

A little thought about your plan, and what is the worst thing that can happen, will help in avoiding such situations and will make sure you think through how to deal with them.

As a Scout Master, along with my military time, means that I think through the plan, and the worst case, almost automatically. I can't help it, it is too ingrained. It does not need to frighten you, just make you think through what could happen and how you can handle it.

Along with the Wilderness Survival merit badge pamphlet I recommended before, get the Emergency Preparedness one and the First Aid one. I like teaching these merit badges close together in time, as they are all connected and mutually supporting. Emergency preparedness will walk them through weighing the possibilities and preparing for them in a practical and logical way. It is suitable for kids, but works for adults as well. They are inexpensive, and I recommend them over many survival books out there. They are also small and easy to have with you. Just the process of stopping and reading them when you find yourself in such a situation will help to calm you and focus your mind. Drink some water, eat a snack to feed the brain, and you will find yourself becoming more calm and rational. Then you camp out unexpectedly, and make it out without too much risk.