I'd love to go cycling, but my anxiety gets in the way

I love riding my bike, and I want to go outside more, but either I don't have the motivation or when I do go out I feel extremely anxious. I feel like everyone is watching me and I hate having to go near strangers. I also feel like I look like an idiot when I pass people and because of all of this I usually bike for 10 minutes and then get too anxious and go back home. Any advice?