Haha, that stuff is the worst thing EVER I suffer from it, and I can tell with experience that it really is terrible. I've hallucinated huge spiders, people in my room staring at me, someone literally sitting on me, all kinds of stuff.
Tips: When it happens, try to scream as loud as you can. All that will come out is a grunt most likely, but it has worked for me.
Edit: Is lucid dreaming like a big deal? I'm pretty sure I do it every night