Shiva As Owen mentioned, yes, partially. It draws on a variety of 'lessons' he learnt primarily during his test pilot and astronaut days. A very interesting (and exciting!) read, at least for me. Definitely a must read if you are a space enthusiast; this one goes right up there with Carl Sagan's Cosmos in my library.
Owen Yes, it is in some parts an autobiography. The book does focus more on how he became an astronaut and his adventures in space though.