A Lucid Dream?

Yesterday, I could not wake up properly. I had more medication than normal but it does not usually affect me that way. I ended the day by having a lay down on my bed. I had the radio playing in the next room when I dozed off. I dreampt about driving three friends in a big city. I was fine until I reached a juction with a main road. I suddenly didn't know where to turn. One of the friends guided me to their house. My friend put on some music and I recognised where I had first heard it. I began to say where we had both first heard it and I woke up. The same song was playing on my television. I think that would count as lucid dreaming, bringing an external stimulus into your dream.