Most people throw "lucid" around without truly experiencing it. We usually have at least SOME control over our dreams, but lucid dreaming is entirely different. I've had a handful of lucid dreams, and I am just as conscious as I am in real life, with my senses more vivid than a normal dream. In fact, it seems so real that I once just laid in bed for the entirety of a lucid dream (not realizing it until I woke up). I've also fallen out of bed before, mistakenly thinking I successfully induced a lucid dream.