Tesla took the approach that the machine is in control and the human has to detect and take over when the machine makes a mistake. That is known to be a very problematic strategy, it's easy for the human to get distracted.
What Subaru has done is to leave the human in control, the machine only steps in when it sees a problem.
It's totally different safety outcomes. In fact, not even the same problem - one is "self driving", the other is "crash prevention".