In order to improve the traveling performance of crawler paver, a new control plan for paver’s traveling system was proposed. In the control plan, velocity closed loop control was adopted for the left wheel in order to keep constant-speed moving of the paver. The series structure of fuzzy control and PID control was adopted for the right wheel in which the fuzzy controller was used to slightly adjust the right wheel set-point of PID controller according to the distance difference variable and velocity differences variable of paver’s left wheel and rignt wheel. The experimental results show that the new control plan makes the paver’ distance difference index reduce from 2% to 0.5% when running straight 50 m.