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It's likely that even after the reboot the bt stack crashed again when it tried reconnecting to the car (or just up and crashed) and then hung. I wrote an app to recycle the Bluetooth stack without a reboot: https://play.google.com/store/apps/details?id=co.loudbit.ao_shi just in case you run into this again, it might be useful.

I wrote an app to help with the bluetooth issue. It's a minor help, it just prevents you from having to reboot. The S4 bluetooth stack was crashing every 15 minutes or so at one point, and destroying the battery, and it drove me crazy. Anyway, the app can be found here: Ao-shi, it does require root, because it is killing the bt process. The source is linked from the play store if you want to double check what it does. You have to run it each time it crashes. There is also a widget to make running it easier, which is included.

The app is named Ao-Shi. I just published it as stable and public. It will take a couple hours to show up. Once it does, have fun. Occasionally you will need to execute the kill task more than once, or the revive task more than once, or if you kill and revive and revive fails, kill again and then revive. It has a lot to do with timing and the service trying to auto restart and hanging again in the background.

The app does require root (the only way to kill the service that I know of). But, I have the source of the app published here: Github

You can fix the issue without rebooting if you want. Open terminal and do the following (assuming you already enabled root):
su
pkill com.android.bluetooth

You should now be able to turn on bluetooth. If not, run pkill once more.

Edit: I wrote an app as a workaround: https://play.google.com/store/apps/details?id=co.loudbit.ao_shi