You can record yourself using some mantras, put some nice music and listen to it as you drift of to sleep.

You can also do that with brainwaves and then, let's say you play it after waking up in the middle of the night, calculate how long it takes for you to fall asleep and then, record "Yourname, you are lucid dreaming." Very softly (you want this to play when you are asleep) It might help. Just an idea that came out of the blue... as when your name is called, your awareness spikes.