I used to have this problem and in fact I still have, my solution though was chemistry. Brain Chemistry! 
When you lucid dream there is a system called amingeric system (basically governs critical thinking) that is slightly above the cholinergic system (one explanation to REM dreams).
The aminergic rises when we are awake and the cholinergic rises when we sleep. The mystery however is how we can make the aminergic system rise with just intent, but that is another question.
Anyway when we DILD the aminergic is slightly higher and the more attetention we put in the dream the more it increase, but it's no always as simple as that, since sometimes we are really stupid in dreams and that is because the logic center of the brain is shut off and the aminergic system is really low.
However if you have a plan of waking yourself up (How crazy that might sound) you can actaully increase the aminergic system automatically and then you return to the dream by using the DEILD, atleast in my experience the cholinergic system seems to increase and is making the dream more vivid, but since the aminergic is almost peaked or well atleast very high, I am still aware and the dream turn out more vivid.
This is also why people say WILD experiences are more vivid and more real than DILD experiences.
Everything needs balance even the brain itself 
By then the dream feels like being plugged in to the matrix, it's not random unstable not hazy or blurry it's perfect stable and like the lucid dream of your dreams ... 
Here is a perfect moment to start the song Paradise by Coldplay
Sorry got carried away.. But I hope this information helps you
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