The common causes of waking up right after realizing you're dreaming are...
1. You became too excited to maintain yourself in the dream, thus jolting yourself awake.
2. You began to think of your physical body, lying in bed, and disconnected from the dream state.
To maintain yourself, I suggest looking at your palms and rubbing them together. Don't think of yourself in bed; instead, look around your dream world and repeat to yourself that you're dreaming. Helps for me to stabilize the dream, although I've never really awoken from a lucid dream because of either reason.
Once you ground yourself by doing those things, take a deep breath and then say or shout 'increase clarity' to sharpen the outlines of objects in your dream.
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