test: check error with regex in test-signal-safety

Change TypeError to a regular expression in assert.throws() in
test/parallel/test-signal-safety.js.

PR-URL: #14285
Reviewed-By: Michaël Zasso <targos@protonmail.com>
Reviewed-By: Rich Trott <rtrott@gmail.com>
Reviewed-By: Gibson Fahnestock <gibfahn@gmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Benjamin Gruenbaum <benjamingr@gmail.com>
Reviewed-By: Timothy Gu <timothygu99@gmail.com>
Reviewed-By: Tobias Nießen <tniessen@tnie.de>
Reviewed-By: Gireesh Punathil <gpunathi@in.ibm.com>
Reviewed-By: Refael Ackermann <refack@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>

test/parallel/test-signal-safety.js

@@ -9,4 +9,4 @@ assert.throws(function() {
   const s = new Signal();
   const nots = { start: s.start };
   nots.start(9);
-}, TypeError);
+}, /^TypeError: Illegal invocation$/);