No autoconnect car Bluetooth iPhone 4

I run iOS 6.1.3 on a iPhone 4. Bluetooth doesn't reconnect automatically to my car audio system unless I power of my phone and restart it or if I do it manually. Even if I do it manually, I have to turn off Bluetooth and then back on or else if I just select the Bluetooth system I want to pair it with, it's just keep searching forever!!! Same problem on a sound bar that I have at home, unable to connect unless I restart my phone or turn off and back on Bluetooth option! Please help!