Er, sorry to complicate matters but there can't be a definite answer to this question. If the circuitry inside the car has the all the batteries in series with the charging voltage applied at either end then 12V may well be appropriate. If, however, the circuitry is arranged so that, when charging, the batteries receive charge as 2 banks of 4, then it's possible that only 6V is required!
If it's possible to remove the AA cells, the easiest way to get round the uncertainties is to buy 2 cheap chargers, of the type that charge 4xAA each.
Chris