It really does only take one and costs little for us to prepare. We want to mine asteroids and further science anyway, so we are going up there already. It's not like the cost of the whole space program is dedicated to defending from this. We just need to have a few plans ready to go when we do find it.
It would cost millions of dollars, compared to the billions already in space and trillions we spend in defense. What is money in the face of a 0.00001% chance of annihilation?
EDIT - Wording and spelling.