Currently, one of the trends in the automotive industry is to make vehicles as autonomous as possible. In particular, this concerns the implementation of complex and innovative selfdiagnostic systems for cars. This paper proposes a new diagnostic algorithm that evaluates the performance of the drive shaft bearings of a road vehicle during use. The diagnostic parameter was selected based on vibration measurements and machine learning analysis results. The analyses included the use of more than a dozen time domain features of vibration signal in different frequency ranges. Upper limit values and down limit values of the diagnostic parameter were determined, based on which the vehicle user will receive information about impending wear and total bearing damage. Additionally, statistical verification of the developed model and validation of the results were performed.