Oh, so many options!
If you want to stick with your stock stereo, it sounds like you will be looking for some combination of amplifiers in your car. You can get one amp for your mains and another for your sub. In that case, you'll be looking for a 4-channel amp with a high pass crossover for the mains and a one- or two-channel amp with a low-pass crossover for the sub. Another option is to get a 5- or 6- channel amp which can drive both the mains and the sub(s). These usually have dedicated crossovers for the four main channels and another set of crossovers for the sub channels. Usually these also have high-level inputs, which is what you need if you intend to pull the signal from your H/U's speaker wires.
-Roy
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