The 15 - 34 metre wide asteroid 2010 UO made a close pass (11.1 lunar distances, 0.0285 AU), travelling at 4.98 km/second, to the Earth-Moon system on the 17th October, 2010 @ 02:05 UT. See more
The Lunar Distance (LD), the distance between Earth and the Moon, equals 384,401 km, (or 0.00256 AU).