well, ive had many many expierences like that, and yea , you are close, i'd say if you focus on your breathing passivly, you will see some hypnogogic imagery coming up, and if you keep that up for a little while, you'll feel some sort of shift, and wham, lucid! :3

Well, this was for me though, all expierences can differ, but, keep this up and youll have a WILD!