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You can buy 12v temperature controllers for less than ten bucks on Amazon. Just put that in series with any heat/cool source. I use a Honeywell temperature controller to make a single cavity freezer into a 50 F beer cooler/fermenting box. You don't need anything that fancy to control a heat pad...

It sounds like it might be worthwhile to put your lead acid where it's not freezing. Sure they will work, but at diminished capacity. If vans can find room, should be a snap in or next to a building. There are many improvements that you could make to your existing system. Which one will you do...