With the development of the autonomous driving technologies, the traditional vehicular test and evaluation methods cannot meet the testing requirements of Intelligent Connected Vehicles (ICVs). Scenario-based crash risk testing method has become one essential approach to the safety evaluation of ICVs. The construction of testing scenarios and the development of scientific testing methods as well as evaluation framework are the key scientific issues that need to be addressed. This presentation introduces in-depth crash data collection process and collision mechanism decoupling methods, and proposes a scenario-targeted testing method for ICVs. Then, a scenario derivation method is proposed to enlarge from a limited number of real crashes to a large number of high-risk scenarios. Finally, a hierarchical crash risk evaluation framework for ICVs is presented.