ive been trying to hav lucid dreams for a while but i gave up for a few months then this happened to me totally unintentional

i was in the car, sitting in the back seat and i feel asleep i woke up a couple hours later and closed my eyes again and started hearing a guy say something... then i felt my body floating but i just was seeing black... then i realized i was dreaming but i started to panic because i couldnt open my eyes.. then i woke up... would you all say that was a WILD experience or something else?