An agricultural harvesting machine comprising: a communication system configured to receive a prior information map that includes values of a weed characteristic corresponding to different geographic locations in a field; a geographic position sensor configured to detect a geographic location of the agricultural harvesting machine ; an in-situ sensor configured to detect a value of an agricultural characteristic corresponding to the geographic location; a predictive map generator configured to generate a functional predictive agricultural map of the field that maps predictive control values to the different geographic locations in the field based on the values of the weed characteristic in the prior information map and based on the value of the agricultural characteristic; a controllable subsystem ; and a control system configured to generate a control signal to control the controllable subsystem based on the geographic position of the agricultural harvesting machine and based on the control values in the functional predictive agricultural map; characterized by a predictive model generator configured to generate a predictive agricultural model that models a relationship between the weed characteristic and the agricultural characteristic based on a value of the weed characteristic in the prior information map at the geographic location and a value of the agricultural characteristic sensed by the in-situ sensor at the geographic location, wherein the predictive map generator is configured to generate the functional predictive agricultural map based on the values of the weed characteristic in the prior information map and based on the predictive agricultural model. a communication system configured to receive a prior information map that includes values of a weed characteristic corresponding to different geographic locations in a field; a geographic position sensor configured to detect a geographic location of the agricultural harvesting machine ; an in-situ sensor configured to detect a value of an agricultural characteristic corresponding to the geographic location; a predictive map generator configured to generate a functional predictive agricultural map of the field that maps predictive control values to the different geographic locations in the field based on the values of the weed characteristic in the prior information map and based on the value of the agricultural characteristic; a controllable subsystem ; and a control system configured to generate a control signal to control the controllable subsystem based on the geographic position of the agricultural harvesting machine and based on the control values in the functional predictive agricultural map; characterized by a predictive model generator configured to generate a predictive agricultural model that models a relationship between the weed characteristic and the agricultural characteristic based on a value of the weed characteristic in the prior information map at the geographic location and a value of the agricultural characteristic sensed by the in-situ sensor at the geographic location, wherein the predictive map generator is configured to generate the functional predictive agricultural map based on the values of the weed characteristic in the prior information map and based on the predictive agricultural model. <EOS>