Yes, I often have lucid dreams. It tends to happen when I go to bed in an anxious or frightened state.
For instance, my family was away for a weekend and I was at home by myself. Despite being almost 26, I am terrified of the dark; paranormal subjects used to be a special interest of mine...I only stopped pursuing it because I realized I was too frightened to ever actually 'investigate.' Anyway, I was in bed, with the door shut, and I had the light on out in the hallway (in case I had to get up or something). Well, I was incredibly anxious, jumping at every noise...and then I heard someone out in the hallway; it was unmistakeable. I was laying there, literally paralyzed with fear (my limbs would not move), waiting for the person to come in and probably kill me, when I noticed that there was no ring of light around my door, as there had been when I got in bed. This made me aware that I was dreaming, and I promptly woke up. My room looked exactly as it had in the dream, but the ring of light was back around my door.
This happens A LOT.
Also, my dreams tend to be incredibly realistic; typically exact replicas of my waking life. This gave me a lot of trouble growing up, because I would always think that the events from my dreams had actually happened. It might take me a couple of days or even weeks to understand it was a dream.
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Aspie Quiz: AS - 141/200, NT - 77/200 (Very likely an Aspie)
AQ: 34/50 (Aspie range)
EQ: 32 / SQ: 68 (Extreme Systemizing / AS or HFA)
Diagnosed with AS and Anxiety Disorder - NOS on 03/21/2012