An optical disc drive apparatus may include an optical pickup that moves along a transportation shaft provided along a radial direction of an optical disc and picks up reflected light after emitting an optical beam via an objective lens to the optical disc; a drive section that controls the objective lens to adjust an angle of the optical beam; an angular velocity detection section that detects an angular velocity around the transportation shaft; storage means for storing coefficients from which the skew of the optical disc around a virtual axis perpendicular to the transportation shaft is calculated using the angular velocity; a skew estimation section that calculates a skew estimate value by multiplying the coefficient by the angular velocity; and a drive signal generation section that generates a drive signal based on the skew estimate value to enable the drive section to adjust the angle of the optical beam.