The 12 - 27 metre wide asteroid 2015 RG2 made a close pass (6.4 LD, 0.0164 AU) travelling at 8.09 km/second, to the Earth-Moon system on the 7th September 2015 @ 17:57 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).