100% lucidity 100% of the time
Here is a method that has worked every time for me:
While falling asleep, I close my eyes and imagine that I am, say, floating on water. But I only think of the movement, no surroundings or anything. Like I am floating around in pitch blackness. Eventually, if I can stay concentrated long enough I start to feel like I really am floating, and moving up and down and stuff. Eventually, I fall asleep into a FULLY LUCID dream.
There's one catch: it was unbelievably hard to maintain that feeling for long enough to go asleep. several times that I've tried it, I've given up early. But both times I did it completely for the proper aunt of time, I had two UNBELIEVABLE lucid dreams.
Also, it makes it much easier if I've been doing something, say snowboarding or going on a boat ride, that same day for two reasns:
1) I am more exhausted and fall asleep easier
2) The correct movement is sort of "programed" into me, so I still feel like I'm on the boat or going down the mountain and I don't have to try so hard to attain that feeling.
I'm betting that this will work for everyone that can do it successfully, unlike some of the other techniques, but it's also harder to do. But, hell, it's worth a try, right? If anyone tries it, tell me your results!