Recently I have been able to do this on command but I'm not sure if it's lucid dreaming or some other thing where your awake but sleeping.

When I go to bed I relax and think of nothing but I picture myself floating in some sort of empty void. I let my imagination conjure up stuff like people, places and things ... pretty much anything. I let it wander and let it naturally appear where I don't try to change anything. It's almost as if I'm falling asleep yet I am consciously aware of what I am experiencing in my mind and that my body is lying down on my bed. Over time (presumably as I go into a deeper sleep) I can move and do things to the objects in my mind, even talk with people. Yet at the same time I can hear real things where my body is lying, like cars and buses passing and the honking of horns, even people talking outside as they walk by. Although I'm not constantly aware of it I am able to hear it from time to time in my "dream" ... so is this what a lucid dream is like?