Note 5 bluetooth sound not automatic in car

A

AC Question

when I receive a phone call I hear the ring in my car but then when I answer the conversation sound comes from the phone and not from the car. If I want to hear the sound from my car, I have to press twice the Bluetooth icon on the phone call screen.
Is there a way to make the sound come automatically from the car instead of pressing the Bluetooth icon every time manually in every phone call?