Optical recording medium driving apparatus, and method of generating tracking error signal

An optical-recording-medium driving apparatus includes: a light irradiating/receiving section configured to irradiate light on a medium so as to form a first side spot, a main spot, and a second side spot, and to receive reflection light from the individual spots; a first delay section configured to delay a light reception signal on the first side spot in accordance with a disposition interval between the first and the second side spots; a second delay section configured to delay a light reception signal on the main spot in accordance with a disposition interval between the main and second side spots; and a tracking-error-signal generation section configured to generate a tracking error signal on the basis of a correlation between delayed light reception signals on the first side spot and the main spot, and a correlation between the light reception signals on the second side spot and the main spot.