Just because your not in control dosen't mean that you are lucid. You're lucid when you realize that your are dreaming.
My first tip is to not think about your sleeping body, and don't get exited. Sure you can be happy that you are dreaming, but don't focus on that. Ardenalin is a dreamkiller.
Another trick to stabilize your drea is to rubb your hands together. This makes you focus on your dream, and makes it more stabilized.
Feel free to ask, if there is something more you want to know. There's always someone that will answer