What techniques can I use during SP to have a lucid dream?

I have sleep paralysis pretty much on a nightly basis and for years. After exploring these boards and researching SP I've become able to not panic and to become quite comfortable during this sensation (and maybe slip into what may or may not be OBE's, but I'm skeptical of OBE's in general)

I've had some limited experience with lucid dreaming, but I would like to know what techniques I can use during SP in order to have a LD. I've tried techniques similar to a WILD while in SP, but I just seem to sit there "in my head" staring at the back of my eyelids. There's no transition into a dream, and often there's limited amounts of hypnotic images. Any advice or links?

I'm a noob at all this:
Panic during SP? Is this a natural response for a first time or does it differ from person to person?

Best one: look up at your pineal gland, aka mind's eye. kind of go cross eyed like when you stare at your nose, except look up pretty much just between your eyebrows. works pretty damn well, you will know when you find the specific spot to stare at with your eyes closed.

Relax and visualize. IMHO there is no better way to a. fall asleep and b. lucid dream

Same thing happens to me: lying in bed, s.p. comes along.... and then nothing. It's annoying. I will try the eye thing tonight though..