As you can see the detection rate of the smaller one kilometer or larger asteroid has slowed down. We are currently finding one per month. The searches are much more sensitive, and the reason for that is that we have found nearly all of them already. We expect to find 99% of them by the 2020s.
That would leave the smaller population of Jupiter crossing asteroids still to find. We would have found those also if they are already closer to Earth than Jupiter, so that means that we have at least several years warning on the very low one in ten million probability that one of those is headed our way this century. Chances are that it would probably do several flybys of Earth before hitting as well. So the probability of finding one on a direct hit course to Earth with only a few years notice is even lower.