I have wanted to become a lucid dreamer for a long time now. But I can't get a proper sleeping pattern, and sometimes my alarm won't wake me up, because I have barely gotten any sleep and is sleeping too deeply.

My insomnia is a SERIOUS roadblock for my way to lucid dreaming, I have had a few lucid dreams actually, even though my sleeping pattern is abysmal. But I never get very lucid in my dreams, and they're not very frequent at all.

Let me explain what happens when I try to go to sleep:
I have an over active mind, I think - ALWAYS. I'm always questioning stuff, imagining stuff, and just thinking about stuff. When I go to try to go to sleep my mind starts thinking "why haven't I fallen asleep yet, how long have I been here, should I change sleeping position, how will i know when i am asleep?" (and more). It is not possible for me to just stop these thoughts, I have tried everything - meditation, relaxation pills, reading.... it's just not possible for me.
After a while my phobias start to kick in - and the biggest fear I have is the fear of being watched. I can't have my eyes closed, I am constantly looking around in the room to see if I am alone every minute, I start imagining noises of someone breathing...

Not only does this give me problems in real life, as I have no energy to concentrate on school (I am going to have to go through ninth grade again because I just can't keep up with everyone else, and I'm one of the smartest guys in school..), I care for spending time with my friends because all I can think of is going home and lying down.
I need this to stop, fast! I have talked to doctors but all they give me is medicine which has no effect. Do you know of any good techniques?