This on-line series of articles deals mostly with race cars, but is a great start if you're into the technical aspects of car dynamics. Brian's a physicist and a member of the "No Bucks Racing Club".
This is the text associated with the Bondurant course on performance driving. It discusses racing techniques that are useful for car control on the road. Available from Classic Motorbooks.
This video illustrates driving techniques using race and street cars. Available from Classic Motorbooks.
This video teaches car control techniques to "average" drivers. It is an extension of the Sandy Stevens style of instruction used in his advanced driving courses, demonstrated by sports analyst Sam Posey.
This book concentrates on the specifics of four-wheel drive cars. Aside from the full chapter on Pro Rallying, much of the book has information and suggestions that relate to all-wheel drive performance driving.
A book on the psychology of street driving, from the point of view of Zen philosophy. Interesting reading.
This book explains the dynamics of suspension and performance of front-wheel drive cars in basic terms. Chapters include setup for racing, autocross, ice racing, and rally. The 23 page rally discussion is specific to Pro Rally.
This book is an excellent primer on the fundamentals of car suspension design and modification. Although it is primarily oriented towards autocross and road racing applications, the basic concepts are developed in such a way that the reader should be able to apply the principles to rally suspensions at all levels of the sport.