The autonomic nervous systems and peripheral nervous system is all part of the central nervous system what sets them apart is how both systems sends information to the central nervous system.
Autonomic nervous systems function automatically, it’s controlled involuntary. These nerves are located within the trunk and consists of motor fibers sending impulses from the central nervous system to the glands, the heart and controls internal body processes. ANS travel from your spinal cord to your lungs, heart, and other organs.
The peripheral nervous system lies outside the central nervous system and is composed of nerves and ganglia. These nerves are voluntary you have to control how these nerves function.