Yes - i think you misunderstand the meaning of a lucid dream; a lucid dream is when you are aware you are dreaming whilst in the dream. What you are talking about is dream control. Dream control is all about confidence and expectations - if you expect something to happen but you aren't very confident about it, it is more likely to fail. Visualising can help with expectations. Be confident in yourself and visualise, do it naturally, and dream control will not be a problem.