According to this article, asteroid 2011 CQ1 passed within 3400 miles of Earth on February 4th of this year. However, 2011 CQ1 was only about one meter in size. This one, 2011 MD, is about 10 meters in its longest dimension.
When you can actually see and feel the atmosphere respond to a high speed object, Ouch.. that is too close for comfort.. I love the video of the bus sized object flying over the football field at a fairly low elevation.. one of these days..