A head-up display device includes a screen, a projector that projects a visual image to the screen using a projection lens, and a processor. The processor is programmed to generate a virtual image of the visual image from the projected visual image and determine an image-generation position at which the virtual image is to be generated. The screen and the projection lens are configured to be movable along an optical path of the projector. The processor is programmed to determine a screen position to which the screen is to be moved based on the decided image-generation position and determine a lens position to which the projection lens is to be moved based on the determined screen position. The projector includes a screen-drive motor that moves the screen to the determined screen position and a lens-drive motor that moves the projection lens to the determined lens position.