siri says I have to unlock my iPhone to open the garage door

When I have my iPhone plugged into the USB port of my Honda, it is in CarPlay mode. When I access Siri through CarPlay and ask it to open or close the Garage Door, Siri comes back telling me that I have to unlock the iPhone first, but does not recommend while driving. Seems to me this defeats the Hands Free feature. I had a chat with Apple Tech Support and was given several settings to check. Lastly I was told to upgrade from IOS 11.1.2 to 11.2, which I did, but still the issue persists. If I manually unlock the phone, I can open and close the door.