This is very strange; lucid dreams occur during REM when SP also occurs. Sleepwalking occurs in slow-wave sleep, so you shouldn't be having such vivid...eh...hallucinations/dreams?

I mean, i may be Dr. Dreamer here, but don't take my word for this -- maybe you're having a problem with sleep paralysis? If so, that can be very dangerous. Although i don't think so, as elements of your real life appear in your dreams. Maybe you should lay off the LSD