Well, really close to a lucid dream! Only fact it may not been count as a lucid dream, is that you had no knowledge of lucid dreaming and you surely were confused and upset/scared. You maybe weren't aware that it was a dream when you were in that dream. But you sure were aware that something were wrong and really scary, and you might were able to control the dream somehow?

As what I read and understanded, you probably had a false awaking. Simply when you're dreaming that you're awake, infact you're still sleeping.
Doing reality check in the morning when waking up is one way to prevent false awakings in mornings, and instead turn them into lucid dreaming. However, I've never done that so far, so no idea how great it works.