Here is an intro to descriptive stage notes: http://www.tallpinesrally.com/TallPines/Default.aspx?tabid=82

That will tell you all you need to know about how to read notes.  Although some rallies may be slightly different, they are all pretty much the same.


As far as I know, there are no books specifically about rally driving.  But there are plenty about racecar driving, and many of them devote at least a couple of paragraphs, up to a full chapter about rally driving.  I know because I've read just about all of them.

The thing about those books is that they are all different.  They are written by different authors, who sometimes have very different theories on the correct way to drive.  I laugh whenever I see two of them in direct contradiction to each other.  But that doesn't make either of them wrong.  What you should do, is read a few different books, and then draw your own conclusions about what's right, and what's wrong.
I'd have to go dig through my collection before I could recommend any to you.  Mostly because I can't remember any of the titles.