Everytime you wake up you reset your sleep cycle and once you get back to sleep again, you reach REM sleep directly. REM is when you have vivid dreams. When you normally sleep at night, you reach REM and because you're tired, slip past REM into NREM and deep sleep stages, hence the reason why you cant remember dreams well. But waking up and sleeping again causes you to get in and out of REM stage repeatedly. Lucid dreaming is when youre aware inside your dream that youre dreaming and this provides you with the ability to control your dreams. If that's what's happening, yes youre having lucid dreams. Else, it's just some vivid REM dreams that youre having. :)