"The car may initially be branded as a Toyota, but it is a Subaru," said product planning chief Toshio Masuda. Both versions will be unveiled at the Tokyo motor show in November.
The BRZ name stands for Boxer engine, Rear-wheel drive and Zenith. The Frankfurt concept was called the BRZ Prologue - Boxer Sports Car Architecture II, the II referring to the fact that a wire frame model was already revealed at the Geneva motor show earlier this year.
Production is scheduled to begin in the first half of next year, just a few months after its Toyota counterpart.
No precise engine details have been released, but both cars should be good for a 0-100km/h time of about eight seconds and a top speed of 230km/h.
The Toyota FT-86 will also be rear-drive and made at Subaru's Gunma factory in Japan.
Christened the FT-86 II in reference to the fact that this is the second evolution of the concept, first shown back in 2009, the car gets revised detailing front and rear, particularly around the front bumper and lights.
The concept has a 2570mm wheelbase and measures 4235mm in length. It's also 1795mm wide and 1270mm high - making it about the same size as a Volkswagen Scirocco.