Welcome to the forum!

The simplest definition of a lucid dream is a dream in which the dreamer is aware that they are dreaming. You can have a very vivid non-lucid dream (which sounds like what you had), and you can have a very hazy, vague dream that's still lucid.

I have had lots of non-lucid dreams where I kind of know that something is going to happen (often something bad, like a bad guy coming from around a corner or an explosion), and it happens. In fact, expectation has a lot of influence on dreams, both lucid and non-lucid.

Still, a very interesting dream.