Yes, I experience this when I lose lucidity. There are ways to pull yourself back into the lucid dream if you realize you're losing awareness.

* Rub your hands
* Plant your feet firmly on the ground
* Do more reality checks
* Shout things like "Lucidity 100%!", or "I'm staying lucid!"

People who have better awareness during the day are more likely to have a LD. This means paying close attention to the people, sights and smells all around you.