These are the instructions on how to open a locked lavatory door from the outside on an airplane. It is a very easy process. However, be advised that unless you really have to go, this could result in a very embarrassing situation.
Step 1: Approach locked lavatory
Step 2: Lift "LAVATORY" sign
Step 3: Slide the knob into the unlocked position
Step 4: Cackle because you've just unlocked the bathroom from the outside
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that will certainly discourage the pervs.
And btw.... Why would opening the toilet when occupied be less embarassing if you REALLY have to go? It's still occupied, so if you REALLY have to go, you'll still have to go over the person already sitting there.