The science behind lucid dreaming

In lucid dreams, the dreamer realizes they are dreaming even as they remain asleep. What is the science behind this intriguing consciousness phenomenon? This special feature looks at the current research.image of a boat and the night sky Can scientists explain lucid dreams? 

Typically, when we dream, we are not aware that we are dreaming, and the most unlikely events, characters, and environments seem real to us.
But now and again, some of us realize that we are in a dream as we are dreaming. This phenomenon is called "lucid dreaming," and it has stirred the interest of researchers and the public alike.

See these links:

https://www.medicalnewstoday.com/articles/326496.php

https://sites.psu.edu/siowfa15/2015/09/10/the-science-behind-lucid-dreaming/

https://blogs.scientificamerican.com/illusion-chasers/the-neuroscience-of-lucid-dreams/