For your problems with sleep paralysis and hallucinations I recommend you read this. Sleep Paralysis Symptoms, Treatment, and Causes It explains what exactly sleep paralysis is and how you can try to manage it.

I don't think anyone on this website would know how to stop lucid dreaming. If it's a problem, I would suggest you learn to control your dreams. If you can control your dreams you can usually stop whatever is bothering you in the dreams.