Centro Auto Answering

I have paired my AT&T Centro with my Prius and it works fine to call out from the phone or from the Navigation Screen. My problem is when I receive a call my phone does a half ring and auto answers. I have auto answer turned off in the phone setting or can have auto answer turned on for any given time and it auto answers the same. I also tried pairing a friends iPhone and it works fine with ringing over the car speakers until I answer on the steering wheel or handset. I am not sure if I am missing a setting on the phone or car that needs to be switched so it doesn't auto answer.