There are two tyoes of lucid dreams. One that happens when your asleep and dreaming. And one that hapens when you are awake and going to sleep and into a dream. Shortened they are DILD and WILD. Then there is sub techniques like

DILD=MILD,V-MILD,CAT, And i think FILD will go here.

WILD=DEILD,V-WILD, and many others that people make up.