ok so i don't know if this will work, because i wasn't actually lucid when i did it, but i had this dream once where i had just been tagged with a sticky bomb, and just as it hit me i was like "crap this is gunna hurt like hell, wake up!!" and just forced myself to wake up. although i was going in and out of sleep trying to wake up before this bomb blew my body to pieces, i still woke up. so you could just try simply waking up