You can't just stop lucid dreaming, because that's like saying "how do I turn off my sense of smell?"

What seems to be your only problem is that sleep paralysis is freaking you out. Don't let it. Simply learn to enjoy sleep paralysis. "Float" through it. Don't try to move or fallen any techniques or anything. Just lay there. Let your body remain numb. You'll either gradually wake up, or slip back into a dream.