Yes, there's one--in fact, the one they're going to go to, which I feel is coincidence. It is Apophis. It has a keyhole that will be between the Earth and the moon in 2036. Don't quote me on the year. As it comes around, if it hits that keyhole....The keyhole is an area in space defined by the orbit it takes to hit it on the next cycle. Apophis has been identified at the UN as the one that we know about that has the closest chance of doing that. I will say, though, that the error bandwidth on those calculations is quite high.
On May 11th, 2010. See this statement in context.