6 years and only one lucid dream… 
Have you tried this technique yet? It’s a much different mind-set – give it a week or two and see if it works for 'ya. Might help to repeat in your head “I will not move when I awaken” as you drift off to sleep (you tend to wake up thinking what you fell asleep thinking).
Anyway, back on topic – I have tried planning out dreams like that and writing them down in advance, but it hasn’t (noticeably) helped.