One person I know wears a wristband that tracks his REM sleep stages. He sets an alarm to go off when REM sleep starts. He recorded his REM sleep for a few weeks, and when he figured out where he was most likely to wake up in the middle of the night, he would wake up. Some interesting things to note is that when he stopped lucid dreaming for a few months because of his job, he started having black and white, blurry dreams like everyone else. However, after about a few months of trying to lucid dream, he said his dreams became as vivid and colorful as before. However, he was a bit extreme, waking up at the crack of dawn and extending his sleep by almost 12 hours a day to have more lucid dreams. He also seems to have short dreams of a few minutes to a dozen minutes. So he said he would sleep more during the day to have more dreams.