If company that produce ICO want to get N money, but the company did not collect as much of necessary amount of money. Is it means that ICO did not take place and company will not launch?
It really depends on the company and how they make their contracts for token distribution. If some have a minimum investment goal, ideally they would code in their smart contracts to refund all of funds they received if they did not receive their goal by a certain date. If they are transparent about their smart contracts, this will build confidence that they are out to produce a legitimate product/service.
Say a company does this, and launches their token ICO. If they don't reach their target, they could just go back to the drawing board, revise their business plan, and re-launch. This may seem like they are a failure because they couldn't raise that the first time. But I think instead this will be a better way to prove that their product/service is more deserving of whatever funds they receive.