Yep. Start with Vipassana. That by itself won't teach the psychology, but it does allow you to clearly experience and see the experiences arising and passing. (But I don't know if people on the autism spectrum needs it, or it would be helpful). Once you can clearly see it, hear it, smell it, feel it, there are a lot of surprising things you can find out just by observing it.

Another practice I did for a while to really start examining intense, often unpleasant emotions within myself and others is this: http://www.amazon.com/Feeding-Your-Demons-Resolving-Conflict...

At the end of the day, someone's suffering is their own. By "suffering" I am really talking about dukkha, the Sanskrit word better translated as existential anguish. This is something every person has. It is only when one can clearly see it that they can allow space for someone to work through it. By "witnessing", I am talking about something like practicing vipassana while in the presence of someone suffering. And believe me, that is not as easy as it sounds, neither for the practitioner, or for the person in deep suffering.