I just logged on to post this exact same thing. Mine works fine on full charge, but last night is when I hadn't charged it all day and went to plug it in only to receive the error. Hopefully there's a fix somewhere along the line or at least an added configuration for users to adjust or remove the increased current past xx% setting.
As a short-term fix to your troubles (well, mine too), why not invest in a USB car charger and use a USB lightning cable to charge your phone while you stream audio/calls?