I dunno if it counts as lucid dreaming, but I've had dreams I couldn't control, but still knew they were dreams. When that happens, I can usually tune into sounds of stuff outside of my dreams, which is kinda weird.
If someones talking near my bed or room, and I hear it, then just go back to my dream for what FEELS like a long time in dream, and then listen to them again, its like almost no time passed, cause their saying the same thing.
I can also wake up at will when that happens. Which is good if I realize the real me has to use the bathroom >.>