Some of my dreams have been almost more "real" feeling than reality itself. So I'm pretty sure if I were to meet with my fears (aliens. definately aliens ) in those dreams I would totally freak out and wake up.

I guess the only advice I can offer is to confront your fears. In a lower level lucid dream it might not be possible (you'd probably just wake up). But when you are in complete control, I'd say to face the fears head on. In the case of your posted dream, that would probably involve driving the car through the dark. In "Exploring the World of Lucid Dreaming" it tells a lot of stories about people who confronted their nightmares. Pretty cool results too. Good luck with achieving higher lucidity and confronting fears in your dream!

psycofirek