Hello,
" An application was developed for controlling the car using Apple's iPhone 4S, one of the early commercially available BLE enabled devices. As of the time of writing, iOS presented some limitations to the BLE capabilities, which did to a large extent dictate the overall system design. The operating system would only allow for the device to act as a central device, and it could not maintain a GATT server. This is the soul reason why the car is a peripheral role unit and why it has the GATT server. The interface contains two RC-style knobs for steering and throttle, a button to scan and connect, a status icon displaying the connection state and a switch to enable accelerometer control. "
if it would help writing the car as the central, I might be able to help with the ios peripheral side.