You mention Lucid Dreaming, and I read you to say your are accomplished in the art.
You may find something useful, perhaps you already have, in a brief study of the subject Lucid Dreaming. I like the book, which has an audio CD which I have listened to many times is by Stephen Laberge of Stanford University USA. This book may give you even more control of dreaming, thus sleeping.
I can only immagine the confusion you describe - I think it woud drive me "crazy".
Have you ever tried sleeping with the TV or radio on? To block out your brain so it stops swirling around and goes in a straight line as it follows what's on TV? TV is helpful for me and I go to sleep easily this way. It's not a perfect solution because it is best to sleep in the dark.