You don't have to go to sleep and then wake up, which is called WBTB (Wake-Back-To-Bed). You can do it before going to sleep but it can take about 2 hours of attempting to WILD untill you get into a lucid, but REM sleep (which is the time that we dream) gets longer the more you have slept so if you do it straight off then the dream will not be very long and it won't be very clear either.

Some people do hallucinate during WILDs, most people however, get colours and shapes. I personally just get the dream come up in front of my eyes in third person. The hallucinations can be very vivid or not, most of lucid dreaming varies upon the person. I would try if I were you because like I said, it varies and you might not get any of the bad hallucinations that can't harm you in any way even if you did.