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This invention discloses a method and system for detecting pavement structure damage based on radar full-profile map features, comprising: Step 1, acquiring high-density three-dimensional electromagnetic wave data and preprocessing it; Step 2, converting the preprocessed data into a 3D point cloud profile and segmenting it into B-Scan and C-Scan maps, and labeling the structural damage types; Step 3, constructing a dual-input YOLO target detection model including an input terminal, a feature extraction module, a feature fusion module, a multi-scale discrimination module, and a regressor. The input terminal receives the B-Scan and C-Scan maps and transmits them to the feature extraction module to obtain the structural damage feature information corresponding to the B-Scan and C-Scan maps. The feature fusion module stitches the data together to generate fused feature information, which is then transmitted to the multi-scale discrimination module for multi-scale feature fusion and enhancement processing, and finally outputs the prediction result box through the regressor; Step 4, calculating the actual location and size information of the structural damage and a pavement structure damage detail table through a coordinate transformation algorithm.