I believe this most likely is a race, when two paired devices try to
reestablish the connection at the same time:

When entering the car, but the HMI and the phone indicate they try connecting 
and it usually fails.
Still after some minutes it happens, that only one side tries to initiate the 
connection (didn't check who actually does, car or phone) and then the 
connection usually gets established.

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https://bugs.launchpad.net/bugs/1435040

Title:
  Ubuntu Phone (BQ E4.5) does not connect to car-bluetooth

Status in Canonical System Image:
  Confirmed
Status in bluez package in Ubuntu:
  Confirmed
Status in ubuntu-system-settings package in Ubuntu:
  Incomplete

Bug description:
  With my FORD Focus Car, pairing does not work. The bluetooth system in
  the car searches for devices and shows "Aquaris E4.5 Ubuntu Edition"
  and then prompts me to connect with a 4-digit pin code, but the Ubuntu
  phone doesn't react at all and after a while the car system says that
  it failed to connect.

  image: 20150310-3201c0a
  KRILIN01A-S15A_BQ_L100EN_2020_150312
  OS Build 20

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