The invention discloses a bridge rapid detection vehicle based on multi-sensor unmanned driving. The bridge rapid detection vehicle comprises a vehicle body, a travel path detection device, a bridge detection device, a wireless network transmission device and a central controller, wherein the travel path detection device senses the surrounding environment of a travel path of a vehicle body, the central controller judges whether the vehicle body deviates from the travel path or encounters an obstacle or not, the central controller sends a control signal to a vehicle body driving part to adjustthe vehicle body travel path, the bridge detection device detects a bridge state according to the travel path state, the bridge state is sent to a management terminal through a wireless network transmission device, the management terminal observes detection data uploaded by a detection vehicle in real time, the management terminal sends a control instruction to the vehicle body through the wireless network transmission device to adjust the travel path and the travel state of the vehicle, so remote control detection is realized. The bridge rapid detection vehicle is advantaged in that a bridgecan be automatically detected, a manager can complete real-time detection of the bridge through remote operation, detection precision is high, detection is convenient, detection efficiency is improved, and manpower and material resources are saved.