Your vehicle had to either have been built after a certain date to have Android Auto - or you had it reflashed at the dealership to get Android Auto capability. CarPlay/iPhone support was there at the beginning of the model year build (disclaimer, I work for GM).
Assuming you have a compatible radio, make sure you:
-Download the Android Auto app to the phone. The iPhone has CarPlay built into the OS, so no special downloads if the OS is up to date.
-When you plug your phone in, look in the notifications regarding what type of USB connection is occurring (swipe down from the top). Make sure MTP (media transfer protocol) is selected. If you have a wonky setup that requires this to be set, it usually only needs to be done once.
-Samsung phones on Marshmallow / 6 had a know issue. Make sure your phone has the latest updates..
Open Settings on your phone
Select "System updates:
Select "Check for new system update"
Install available update
-Lastly, try another USB cable.