Close-distance coal seams (CDCS) are widely distributed, and the layout of the upper and lower panels can be divided into “=” type and “+” type. The “+” superposition of upper and lower coal pillars in CDCS caused strong mine pressure, but there are few studies on the panel crossing residual coal pillars (RCP) when the upper and lower coal seams are “+” type layout. In view of the special spatial position (“+” type layout), this paper takes the typical panel 4-301 of a particular mine as the project indagation background and studies mining and crossing the overlying coal pillars by dint of field measurement, numerical simulation, indoor test, and engineering application. Compared with vertical stress or horizontal stress alone, the indexes of deviatoric stress and plastic zone can reflect the failure evolution of surrounding rock more comprehensively. Hence, this paper analyzes the expansion form of the plastic zone and the variation law of deviatoric stress before and after mining influence in the underlying mining roadway. The research results show that: (1) There is a sub-peak zone of deviatoric stress under the RCP. The deviatoric stress is bimodal in the range of 9 m below. After the peak value decays to 7.4 MPa, it changes to a single peak located in the area directly below the middle of the RCP. (2) The maximum plastic zones of the roof and two ribs of the roadway below the RCP are 3.4 m and 5 m, respectively. The crest value of deviatoric stress reaches 10 MPa. As the distance between the panel and the RCP decreases, the shape of the high deviatoric stress area presents the evolution law from the “ellipse” of the roof → the “crescent” of two ribs → the “cochlea” of the tips of the ribs. (3) When the mining of the underlying panel is 10 m, 0 m, or − 10 m away from the RCP (without passing through the RCP). The crest value of deviatoric stress within 5–10 m in advance of the roadway increases in turn. However, the peak value is significantly reduced when it is − 20 m away from the RCP (through the RCP). The crest value of deviatoric stress of two ribs decreases in turn along the panel rib → section coal pillar rib → solid coal rib. Based on this, the underlying 45 m of the RCP is divided into area I (10 m), area II (overlapping area 20 m), and area III (15 m) based on the degree of disturbance. And propose the technical scheme of asymmetric combined control in different zones by using asymmetric channel steel truss anchor cable for the top-ribs of areas I and III, and top-ribs asymmetric channel steel truss anchor cable + door-type support in area II. On-site project practice shows that the partitioned control technology successfully resisted the roadway instability and failure caused by the dynamic-static superimposed stress disturbance under the RCP and realized the primary support of the sectional coal roadway. The conclusion provides technical support and scheme design for the partitioning support of roadways under similar “+” type cross‐panels.