I'm not sure what technique this is

Ok, so I recently had my second lucid dream which was amazing! It
started with me and my parents sitting in the car asking each other what we wanted to do and I told them anything we wanted because it was a lucid dream. The dream went on for what seemed like at least 20 minutes after that. But I am wondering what type of method this was because I didn't use a reality check or anything like that. I just seemed to enter the dream knowing I was dreaming but it wasn't a Wild. Thanks for reading and please respond.

DILD. Spontaneous DILD, if you want to be literal. RCs just help the LD process along; you can get Lucid without them.

This is a good sign, btw. If you are having spontaneous DILD's then your mind is clearly in the right place. Keep practicing, it sounds like you are on the right track. Good Luck!