I've had several lucid experiences, but none in which I've been able to affect my surroundings. Whenever I have a nightmare it usually takes me like 2 seconds to deduce "wait, i'm asleep, what the hell am i worried about?" the other being a particularly weird one of me being on the school bus with a couple of friends, talking a bit of shit, and it seemed to go on forever, I realised it was a dream, but I couldn't affect it in any way and eventually got so bored I forced myself to wake up.
I remember waking up to sleep paralysis and being freaked out, not being able to move, trying to yell but barely making a groan. It was fucked up.