How much lucid dreaming experience have you had? Was this your first one? Or just the first one that was like this?

I have never had the exact problem you've described, but there have been times when my lucid dreams have been disorienting and chaotic like that. There are a couple things you can try, which have helped me get the dream under control occasionally.

I find that looking at the ground can help me steady myself. If I feel like things are getting out of control, I stare at my feet until the world around me stops being crazy. When I look back up, sometimes things are more stable.

Another thing to try - if I feel like I am about to wake up, I try spinning. It sounds weird, but it has helped me prolong dreams in the past. I spin in a circle a few times, and when I stop, often I am in a completely different place in the dream, and I don't feel like I am waking up anymore.

I suspect that you won't have the same problem during the next lucid dream you have. But if you do (or if you have other clarity/control problems), give what I suggested a shot. Doesn't always work, but sometimes is better than never.