I found that if I am having a dream that is disturbing, I sort of come out of it, then I can usually fall back to sleep and pick up where I left off, only I change the part I didn't like. Sometimes I replay the same scene over a few times, changing things until I get it

the way I feel is not scary or threatening. Last night something strange happened- I dreamed I was riding a bike down a street, but I didn't realize that the "street" was on top of a very high skyscraper. I rode my bike right off the edge! As soon as I realized what I did, my eyes flew open, and the dream ended. I didn't try to go back to that one.

Is this considered lucid dreaming? I can sometimes manipulate my dreams, but I don't know if this is the same as what is know as lucid dreaming. Another example- I dreamed that there was a huge tornado (funnel cloud) in the distance. In the dream, I was aware that I made myself find shelter.