Wiktionary
lucid dreaming
n. a form of dreaming in which the conscious mind takes control over the contents of the dream
Usage examples of "lucid dreaming".
It is one of the reasons people enjoy lucid dreaming, because they can have sexual pleasure without a partner, without social consequences.
On rare occasions he had had what he thought was called lucid dreaming, where he came to realize that it was a dream, and could control it somewhat.
With the ease of practice, he held himself in the lucid dreaming state, not intending to wake up until he found out what had summoned him here.
He was sitting next to me and saw that I was reading an article on this 'lucid dreaming.
I could argue that lucid dreaming, being in the fantasy world but not of it, is the next big step.