The 580 - 1300 metre wide asteroid 2001 AA50 will make a close pass (52.7 lunar distances, 0.1355 AU), travelling at 22.15 km/second, to the Earth-Moon system on the 31st July, 2012 @ 09:28 UT ±00:01.
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The Lunar Distance (LD), the distance between Earth and the Moon, equals 384,401 km, (or 0.00256 AU).