Have you tried practicing daytime awareness? It should help you to get "over the hump". When you realize you are dreaming, but you don't really get it. It doesn't click. Daytime awareness should help with every aspect of lucid dreaming, like details, vividness and level of lucidity. The difference would be just like difference between you walking through your day without paying attention to what you doing, just automatically following your rutine, and with you noticing details when doing something exciting and new.

If you have not read these yet, here is a few methods
self-awareness (sageous)
dream yoga (sivason)
ADA