Modal frequency is an important indicator for structural health assessment. Previous studies have shown that this indicator is substantially affected by the fluctuation of ambient conditions, such as temperature and humidity. Therefore, recognizing the pattern between modal frequency and ambient conditions is necessary for reliable long-term structural health assessment. In this article, a novel machine-learning algorithm is proposed to automatically select relevance features in modal frequency-ambient condition pattern recognition based on structural dynamic response and ambient condition measurement. In contrast to the traditional feature selection approaches by examining a large number of combinations of extracted features, the proposed algorithm conducts continuous relevance feature selection by introducing a sophisticated hyperparameterization on the weight parameter vector controlling the relevancy of different features in the prediction model. The proposed algorithm is then utilized for structural health assessment for a reinforced concrete building based on 1-year daily measurements. It turns out that the optimal model class including the relevance features for each vibrational mode is capable to capture the pattern between the corresponding modal frequency and the ambient conditions.