A method for determining Back Electromotive Force, BEMF, zero-crossing thresholds of a Brushless Direct Current, BLDC, motor, comprising: detecting a time interval between BEMF zero-crossing points of two adjacent sectors of the BLDC motor to obtain at least two first time intervals; determining errors of the BEMF zero-crossing points by using the obtained at least two first time intervals; converging the determined errors of the BEMF zero-crossing points to obtain correction increments of the BEMF zero-crossing thresholds; and determining the BEMF zero-crossing thresholds by using the obtained correction increments of the BEMF zero-crossing thresholds, the determined BEMF zero-crossing thresholds being configured to determine whether respective BEMFs cross zero; characterised inthat determining the errors of the BEMF zero-crossing points by using the obtained at least two first time intervals comprises: determining a first error of each phase of the BLDC motor by using the obtained at least two first time intervals in combination with a relationship between a half-period angle of a first BEMF signal and a corresponding half-period angle of a second BEMF signal, so as to obtain a first set of errors; and determining a second error of each phase of the BLDC motor by using the obtained at least two first time intervals in combination with a relationship between a zero point angle interval of two adjacent sectors of the first BEMF signal and a zero point angle interval of two corresponding adjacent sectors of the second BEMF signal, so as to obtain a second set of errors, wherein the first BEMF signal is an ideal BEMF signal, and the second BEMF signal is an actual BEMF signal; converging errors in the first set of errors to obtain first correction increments of the BEMF zero-crossing thresholds, and converging errors in the second set of errors to obtain second correction increments of the BEMF zero-crossing thresholds; and determining the BEMF zero-crossing thresholds by using the first correction increments of the BEMF zero-crossing thresholds and the second correction increments of the BEMF zero-crossing thresholds. detecting a time interval between BEMF zero-crossing points of two adjacent sectors of the BLDC motor to obtain at least two first time intervals; determining errors of the BEMF zero-crossing points by using the obtained at least two first time intervals; converging the determined errors of the BEMF zero-crossing points to obtain correction increments of the BEMF zero-crossing thresholds; and determining the BEMF zero-crossing thresholds by using the obtained correction increments of the BEMF zero-crossing thresholds, the determined BEMF zero-crossing thresholds being configured to determine whether respective BEMFs cross zero; characterised inthat determining the errors of the BEMF zero-crossing points by using the obtained at least two first time intervals comprises: determining a first error of each phase of the BLDC motor by using the obtained at least two first time intervals in combination with a relationship between a half-period angle of a first BEMF signal and a corresponding half-period angle of a second BEMF signal, so as to obtain a first set of errors; and determining a second error of each phase of the BLDC motor by using the obtained at least two first time intervals in combination with a relationship between a zero point angle interval of two adjacent sectors of the first BEMF signal and a zero point angle interval of two corresponding adjacent sectors of the second BEMF signal, so as to obtain a second set of errors, wherein the first BEMF signal is an ideal BEMF signal, and the second BEMF signal is an actual BEMF signal; converging errors in the first set of errors to obtain first correction increments of the BEMF zero-crossing thresholds, and converging errors in the second set of errors to obtain second correction increments of the BEMF zero-crossing thresholds; and determining the BEMF zero-crossing thresholds by using the first correction increments of the BEMF zero-crossing thresholds and the second correction increments of the BEMF zero-crossing thresholds. determining a first error of each phase of the BLDC motor by using the obtained at least two first time intervals in combination with a relationship between a half-period angle of a first BEMF signal and a corresponding half-period angle of a second BEMF signal, so as to obtain a first set of errors; and determining a second error of each phase of the BLDC motor by using the obtained at least two first time intervals in combination with a relationship between a zero point angle interval of two adjacent sectors of the first BEMF signal and a zero point angle interval of two corresponding adjacent sectors of the second BEMF signal, so as to obtain a second set of errors, wherein the first BEMF signal is an ideal BEMF signal, and the second BEMF signal is an actual BEMF signal; converging errors in the first set of errors to obtain first correction increments of the BEMF zero-crossing thresholds, and converging errors in the second set of errors to obtain second correction increments of the BEMF zero-crossing thresholds; and determining the BEMF zero-crossing thresholds by using the first correction increments of the BEMF zero-crossing thresholds and the second correction increments of the BEMF zero-crossing thresholds.