If you plug the cig. lighter straight into your acid battery it'll damage the battery, if not explode or split. You need to regulate the charge output. Some van/truck outputs are 24v also. To fully charge that battery (from flat) in one hour approx 7A charge which is very high also for all battery types. Probably best to use a slower charge but start the charge before you leave, or perhaps the night before (if it's a NIMH 1A charge with delta peak shut off before you go to bed and it'll be done by next morning)
If it's a lead acid battery they don't take kindly to fast charges, so I would possbily use a slow charge once it's topped up it continues with a very slow trickle charge (can be left trickling 24/7) however it'll probably eventually flatten the van battery
