Automatic driving control method and system and spraying machine

The invention provides an automatic driving control method and system and a sprayer, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining the environment information of a vehicle collected by a visual device, the first positioning information of the vehicle collected by a GNSS device, and the second positioning information of the vehicle collected by an INS device; determining an error between the first positioning information and the second positioning information, estimating the error by adopting an information fusion algorithm, and determining an optimal estimated value of the error; correcting the second positioning information according to the optimal estimation value to obtain combined navigation information; the environment information and the combined navigation information are input into a trained reinforcement learning network, a control decision is output, and the trained reinforcement learning network is obtained through training in a mode of combi