For me, I can basically lucid dream whenever the desire has been strong enough as of late.
I can force myself to a sleep schedule by staring at a clock and subconsciously thinking of the time I want to wake up around.
I, however, fail to do any sort of planned procedure.
It makes lucid dreaming difficult because of this, but I still have had a significant increase in lucid dreams in the past few months.
I need to practice in a more organized way.