Boys and Girls
I have found a workaround to fix this temporarely , till Samsung releases a patch for fixing it.
Well , when Mobile phone is trying to connect to the car bluetooth device , that time do a call using the mobile phone.
When call established and you are talking to the one you have called , after 10 sec the connection will be established with the car audio system and then it will stay connected. But , as been said, the connection is valid till the next time you will switch off the car and break the connection. So every time I get into the car , I do a fake phone call to a number and wait till the connection is established. Try it