Okay here's an interesting thing that helped me. When i became lucid, the Dream Characters had fuzzy faces (they looked kinda scary actually) and it was kind of freaking me out, as they looked like ghosts. I then tried an interesting thing to make the dream more vivid and to strengthen my lucidity. What i did was focus on a gate that was opposite me and looked at it. I tried to zoom into the gate and tried see if i could read tiny writing on it. The focus somehow resulted in my surroundings becoming ever so vivid, and as a result i maintained my lucidity. (obviously there may not be a gate in your lucid dream but i suggest you focus carefully on any thing in the dream and see if u can find the smallest possible detail to focus on)