With the rapid development of autonomous driving technology, more and more autonomous vehicles are on the road, and the number of accidents involving autonomous vehicles is increasing. These accidents have revealed the limitations of autonomous driving technology in dealing with complex scenarios. The critical scenarios for the road testing are extremely rare, and the test efficiency cannot meet the actual testing needs of the autonomous driving system. This paper proposes general requirements for road test data collection applicable to different autonomous vehicles. It analyses the correlation between disturbance behaviors, road, environment and the risk of scenarios based on critical event. A logical scenario framework is established based on a simulation scenario description model. An automated method for generating critical scenarios based on road test data is proposed, and implementation of 150 scenarios is used to verify the effectiveness of the scenario generation method.