解:$(1)$由题意,得$AC=15\ \mathrm {km},$$BC=20\ \mathrm {km},$$AB=25\ \mathrm {km}。$
∵$15^2+20^2=25^2,$即$AC^2+BC^2=AB^2,$
∴$△ ACB$是直角三角形,且$∠ ACB=90°。$
∵$CD⊥ AB,$∴$S_{△ ACB}=\frac {1}{2}AC· BC=\frac {1}{2}AB· CD。$
∴$CD=\frac {AC· BC}{AB}=\frac {15×20}{25}=12(\mathrm {km})。$
∴公路$CD$的长是$12\ \mathrm {km}。$
$ (2)$在$Rt△ BDC$中,$BD=\sqrt {BC^2-CD^2}=\sqrt {20^2-12^2}=16\ \mathrm {km},$
∴$CD+BD=12+16=28(\mathrm {km})。$
∴一辆货车从$C$处经过$D$处到$B$处的路程是$28\ \mathrm {km}。$