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To give full play to the advantages of polyurethane as a binder, such as mixing at room temperature, short curing time, and high curing strength, polyurethane was used as the binder of a waste asphalt mixture, and the pavement performance of PCRM (Polyurethane Cold-Recycled Mixture) was analyzed. Firstly, the adhesion performance of polyurethane binder with new and old aggregates was evaluated using the adhesion test. Then, the mix proportion was designed according to the material characteristics, and the reasonable molding process, maintenance conditions, design indexes, and the optimal binder ratio were proposed. Secondly, the high-temperature stability, low-temperature crack resistance, water stability, and compressive resilient modulus of the mixture were evaluated through laboratory tests. Finally, the pore structure and microscopic morphology of polyurethane cold-recycled mixture were analyzed by industrial CT (Computerized Tomography) scanning, and the failure mechanism of polyurethane cold-recycled mixture was revealed. The test results show that the adhesion between polyurethane and RAP (Reclaimed Asphalt Pavement) is good, and the splitting strength of the mixture increases greatly when the ratio of glue to stone reaches 9%. Polyurethane binder has low sensitivity to temperature and poor water stability. With the increase of RAP content, the high-temperature stability, low-temperature crack resistance, and compressive resilient modulus of PCRM showed a decreasing trend. When the RAP content was less than 40%, the freeze–thaw splitting strength ratio of the mixture was improved. After the incorporation of RAP, the interface was more complex and there were many micron-scale holes, cracks, and other defects; after high-temperature immersion, the polyurethane binder appeared to show a certain degree of peeling at the holes of the RAP surface. After freeze–thaw, the polyurethane binder on the surface of the mixture produced many cracks. The study of polyurethane cold-recycled mixture is of great significance to realize green construction. [ABSTRACT FROM AUTHOR]