you might want to clean it
it could be the cord the connection from your phone to the car
Or the car USB port itself
clean them all
try again use a different cord
When I say clean them you could try compressed air in a can or electrical contact cleaner Don't use very much
additionally, cleaning can be done with 70% or higher alcohol (isopropyl alcohol) and cotton pad or swab that doesn't leave behind any lint.
You could also take the phone to UBreakIFix and have them check the port.
If it's not a hardware issue, you could reproduce the issue and submit an error report to Samsung Members for software related technical help.