Chelyabinsk was only a 20m asteroid, yet thousands were injured and a lot of damage was done. It's not inconceivable that in the next couple decades, we could predict that sort of event years out, and send a (likely much smaller) redirector mission to give it a tiny push, preventing the asteroid from entering Earth's atmosphere.
What scares and fascinates me though is what happens when we start asking 'okay, but where is it going to hit, and how many of my voters live there?'