It's dangerous to the extent that any other Israeli highway is dangerous because Israelis drive like maniacs. Not sure what stories you've heard. You're in Israeli controlled territory the whole time (though you get very close to Jericho, which is PA controlled, albeit an interesting destination itself) and will go through a couple checkpoints.

Road guide, as in directions/navigation? Nothing beats Google Maps. If you won't have mobile data service to get Google maps on your phone, print out some directions before you leave, or print them out at your hotels. And if all else fails, do like the Israelis: pull over and shout out to someone to ask for directions, and before you know it, 6 people will be in front of your car arguing with each other about whose directions are correct.

PS here are some tips on Israeli driving: http://howtobeisraeli.blogspot.com/2...li-driver.html