Man I had this same problem. I used to monitor my body while trying to WILD, but that would always prevent me from falling asleep.

What worked for me is to just relax and say to myself, "I'm going to have a lucid dream." After that I repeat to myself "I'm dreaming, I'm dreaming, I'm dreaming..." I've gone into dreams with full lucidity that way. The WILD I had today started off with a false awakening. My dad came into my room and said, "You're dreaming." I thanked him and had a blast.