I have had the following same experience many times. It seems to me that I get to the very FINAL stage of WILD then I do not enter the lucid dream. What can I try to do to fix it?

Eventually after 20 minutes my body went into SP, I began to feel as though I was traveling at amazing speeds and I was seeing lots of colors. But I ignored them and pretended to be asleep and they just went away. This repeated it self 3 times, and I counted to 550, then I had no will left and went to bed.
This always is about 1-2 hours in duration and sometimes I look at the colors and sometimes I do not.

Last night I felt like I was not even looking through my own eyes at the colors, and I felt my eyes jerking around in my head.