Like bizzle said, it's normal and common to have to learn to not overreact when you have a lucid dream. Most of us had the same problem as you at first 
It just takes a few more attempts to get the hang of staying calmer.
As for the vividness, you may find it to be a lot more vivid if you can stay there for a tiny bit longer.
Once you can stay in the dream a little longer, what can help to stabilize things is to run your hands over the rough floor/wall .. taste something (the wall?), smell things.... activate your senses in the dream.
It gets you more intertwined into things.
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