Dream or Real? Help!

I have lucid dreams very often, with all the characteristics that go with them.

I'm also quite often exploring astral realms, but it's easy to mix them up with a vivid lucid dream.

So my question is thus: Is there any definable differences between being somewhere either in the astral with REAL people (i.e. not your subconsciouses' dream characters) and just being in a lucid dream (mind created)??

I have a few notions about things that happen when I believe I'm switching from a lucid dream to an astral realm, but I really want to hear some outside opinions.

Thanks a lot for any insight!

Paul