It's all about staying focused. When you are lucid, you are in complete control of your dreams. If you expect to wake up, then everything going black as you described will happen. If you become aware of your surroundings and become lucid, and maintain an awareness of what is happening around you, and stay focused, then you will be able to stay lucid for longer periods of time. I'm speaking from personal experience here.
If you become scared, or over excited you might exit the lucid state as well.
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