When I was younger, I used to go lucid a lot in dreams. It mostly happened during nightmares that were insanely over the top, I guess I unconsciously did a reality check. One dream in particular I remember hanging from the Golden Gate Bridge (somewhere I've never been) while someone stomped my fingers. After realizing it was a dream, I let go, and promptly woke up.
That was all a long boring preface. 
When I was around twelve, I went on a campout with several friends to a campground near a river. We decided to go tubing, and on the trek upstream, we had to take a winding path along a steep embankment which with the help of gravity could almost certainly lead to death, or if one was lucky maiming. It had started raining hard, but we continued anyway, because getting wet didn't really hinder tubing. After much horseplay, I found myself hanging from the edge of the drop, pulling up a companion who'd gone after his tube. After helping him up, I looked down, and this strange feeling of calm came over me, because I was positive that this was a dream. Situations in which one clung to a tree and gazed down at a deadly fall simply didn't occur in real life, and besides this was a dreamsign of sorts for me.. For about ten seconds, I was entirely convinced that I was in a dream state, and wanted nothing more than to let go of the tree, and jump off, into the rocks below. Luckily, by that time, my friends were already pulling me up, and it didn't really matter, but it was scary all the same.
That was all a long boring anecdote. 
In short, I could definitely see how some sort of fatal accident could occur as a result of someone believing they were in an LD.
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