Since you got no replies so far, I'll give you a quote of a meta-analysis study made on several lucid dreaming techniques:

3.4.3. Intention
Intention technique requires that a person – before falling asleep – imagine himself or herself as intensively as possible
being in a dream situation and recognise that one is dreaming (Tholey, 1983). Therefore intention technique is fairly similar
to MILD, however it does not involve ‘‘mnemonic’’ component, i.e. while the emphasis in MILD is to remember that one is
dreaming, in intention technique it is to recognise that one is dreaming. The technique was employed in four field studies;
however, three of them were not specifically concerned with lucid dream induction, but used it as a means for nightmare
treatment (Spoormaker & van Den Bout, 2006; Spoormaker et al., 2003; Zadra & Pihl, 1997). The fourth one compared intention
technique with other induction methods (Schlag-Gies, 1992). The average methodological quality for these studies was
10.3.
About a half of nightmare sufferers who were taught lucid dreaming with the intention technique had lucid dreams within
one to 3 months (Spoormaker & van Den Bout, 2006; Spoormaker et al., 2003; Zadra & Pihl, 1997). The other study showed
that intention technique can be successfully used for lucid dream induction; however, it seems to be somewhat less effective
than reflection technique and similarly effective as autosuggestion (Schlag-Gies, 1992).

3.4.4. Autosuggestion
In autosuggestion technique a person suggests to himself or herself to have a lucid dream during the night while being in
a relaxed stated before falling asleep (Tholey, 1983). Only two studies empirically explored autosuggestion technique (Levitan,
1989; Schlag-Gies, 1992), with an average quality score of 13.0. The findings regarding effectiveness of this technique
are inhomogeneous: While in one study autosuggestion technique seemed to increase the number of lucid dreams (Schlag-
Gies, 1992), in the other study no such effect was found (Levitan, 1989). Autosuggestion appears to be less effective than
reflection/reality testing, but similarly effective as intention technique (Schlag-Gies, 1992). There are some indications that
autosuggestion might be slightly more useful for frequent lucid dreamers, who have one or more lucid dreams per month
(Levitan, 1989).
Hope this helps.