From Our Catalog:
2001 : a space odyssey by Arthur C. Clarke, 1968
The book and film were developed concurrently. The book was released after the film but it was a part of the Space Odyssey series. The other titles to the series are 2010:odyssey two, 2061: odyssey three and 3001: the final odyssey.
Book description: Two astronauts find their journey into space and their very lives jeopardized by the jealousy of an extraordinary computer named Hal.