Subaru's EyeSight is…
Subaru's EyeSight is brilliant. Lane centering isn't always perfect, especially in winter weather, but humans can't keep in their lanes under snowy conditions either.
Over the years we've had EyeSight on a Forester, two Crosstreks, two Ascents and a Solterra. That first Forester was a 2015 or 16 as I recall, and it absolutely saved my wife when she was cut off by a large SUV in a rainstorm making a left turn into her lane of travel from a side street. Eyesight had her stopping before she even moved her foot off the gas.
We've seen the system improve over these iterations and if anyone can achieve zero fatal collisions, it's Subie.