Aaaagh this makes me want to lucid dream so much! My dreams are often so boring and vague, where, for example, I know that something is a color but can't see the color itself.
I think I've only had some near-conscious dreams, where I recognize that I can change one component of a dream - such as, when someone is about to kill me, I decide that isn't going to happen after all. And often I vaguely know that I'm dreaming. In those dreams, when I'm sneaking about buildings and such, I hide where normal people would see my legs sticking out but I know no one is going to react. But real lucid dreaming? No. I used to write down all my dreams every night, trying to have lucid dreams. Maybe I should start trying again.