Get an active crossover like
this which has adjustable frequency points for high/low pass.
Just connect the low-level outputs from your radio/amp to the input, adjust to your liking, connect the outputs to your amps - good to go!
EDIT - ok so if you are just using one amp as kanewolf mentioned not much choice you need passive crossovers like this
80 Hz High Pass 4 Ohm for your door speakers and something like this
80 Hz Low Pass 4 Ohm for the subs. May be more economical to just get a 4-channel amp for the door speakers and a separate sub amp which would have an adjustable low-pass filter.