Well, this is interesting, because the penile tissue is in a sense, a pump. This pump is activated by parasympathetic nerves, but also has innervations from the sensory nerves. Because the penile tissue is a pump, there is no motor nerve that actually connects with the penis itself (there's simply no need). So there's no sense of control as such. The sensory nerve that innervates the penis goes through a section of the spinal cord which is really cords at that point, and thus it might be hard to says that it end up innervating to the left and right hand side.
I would suspect that's it's actually only one side that actually innervates the penis. I'll have a think about this actually