i want to tell about my experience and mayit can help you,

Before I sleep, I always think and try to feel that i am on the motorcycle, i hear the engine voice, i try to feel the win, i did it for about 30 munites and I start to enter my lucid dream, I found my self on my motorcycle and going on the street.
Maybe you can practice it too, and goodluck!
Tips : You must really believe it when you are imaging it., and breath slower and with same frequency. breath slower and imagine you are on the motorcycle...and you will enter your lucid dream..