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The good news is that this risk is likely to become zero as orbital data gets better known – and that we have time to do something. The most important thing in dealing with such a threat is time. A tiny nudge – f. ex. a small continually applied force for a longer time – to the asteroid 20 years before it hits might easily get it to miss by many thousand km. And we have the technology to do it.
This is not a dinosaur killer asteroid. 2011 AG5 is about 140 m wide. The dinosaur killer was about 10 km. But 2011 AG5 can still pack a punch and destroy a mayor city. The point is: It really can ruin your day, but don’t let it do so just yet.