I’m sure a better answer will come along, but when you sleep there’s a chemical that paralyses your body so you don’t act out your dreams. From my understanding when you’re more awake than asleep, almost a lucid dream state (aware you’re dreaming) awake but that chemical is still active you enter sleep paralysis. You try to move but you can’t and panic usually sets in. This mixed with the lingering dream inducing chemicals causes the hallucinations. Basically your mind wakes up more than it should when it shouldn’t.
Edit. To answer the follow up question, why does your body do this, the scientific why I don’t know. Usually it’s more common when your sleep deprived or stressed, also drugs even done prescription will add to this (I know peele that take antidepressants and it increased occurrences a crazy amount). I would address that is either are a concern. Some people are more prone to it but better quality sleep should help reduce it significantly.
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