Awareness meditation (mindfulness) helped me the most for lucid dreaming with DILDs/MILDs. the mindfulness will carry over into your dreams, and if you can meditate for a good while right before sleep, than even better. Relaxation excercises will help with the trance-like state most people try to get into when they WILD. Otherwise I haven't seen any, but I'm sure there are lots of old mantras and meditations for lucid dreaming. The only mantra I know is for dream recall, it's supposed to be used before sleep, or right when you wake up and are trying to remember dreams. RAOM - GAOM (Rah-om Gah-om). I've heard people say they get lucid much easier when they used this mantra, but awareness will probably help the most.

Theres also a meditation for pregognition and precognitive dreams.