The durability road test of a vehicle is an important test to verify the reliability of vehicle components. In order to carry out the durability bench test for drive shaft systems of all-terrain vehicles, a method for acquiring time domain signals of articulation angles of the CVJ, input torque, and rotational speeds of drive shaft systems is proposed. The acquired load spectrum of drive shaft systems is preprocessed including deleting small amplitudes, de-drifting, deburring, filtering, etc. Peaks and valleys are extracted from the preprocessed load spectrum. Based on the graphic method and the estimator stabilization method, the upper and lower thresholds of the time domain extrapolation of the load spectrum are determined, and then the peaks and valleys excesses that exceed the upper and lower thresholds are extracted. The generalized pareto distribution function is used to fit the distribution of peaks and valleys excesses. Based on the fitted distribution of the extracted peaks and valleys excesses, new peaks and valley excesses with the same number as the original peaks and valleys excesses are randomly generated, and the new peaks and valleys excesses replace the original peaks and valleys excesses, respectively, so as to realize the time domain extrapolation of the load spectrum. The extrapolated load spectrum is subject to level classification processing, and the time-at-level method is adopted to determine the distribution of articulation angles and shaft rotational speeds based on different input torque levels. Based on the above analysis methods, a method for editing the program spectrum of the durability bench test is proposed.