I'm not entirely sure I understand your dilemma, but if what you mean to say is that while reciting your mantra and falling asleep your mind wanders off to something different and once you realize this you wake up too much and then just fall asleep normally, yes?
If so, then just focus more on your mantra or make it simpler. Instead of "I will do a reality check and become lucid in my dreams tonight" (or whatever your mantra happens to be) try just "I'll get lucid tonight," or something similar, something short and possibly something rhythmic so you can remember it and focus on it more easily. You just want to be sure you don't focus on it too much or you'll never fall asleep. Just be sure you are falling asleep with lucidity on your mind and you should be fine. If you end up waking yourself up because you got off track then try it again. If you still lose focus then just fall asleep normally. The fact that you still repeated your mantra a couple times should be enough to make a difference.
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