An augmented reality display system included in a vehicle generates an augmented reality display, on one or more transparent surfaces of the vehicle. The augmented reality display can include an indicator of the vehicle speed which is spatially positioned according to the speed of the vehicle relative to the local speed limit. The augmented reality display can include display elements which conform to environmental objects and can obscure and replace content displayed on the objects. The augmented reality display can include display elements which indicate a position of environmental objects which are obscured from direct perception through the transparent surface. The augmented reality display can include display elements which simulate one or more particular environmental objects in the environment, based on monitoring manual driving performance of the vehicle by a driver. The augmented reality display can include display elements which identify environmental objects and particular zones in the environment.