The asteroids vs nukes comparison isn't quite apples-to-apples. "Failure of deterrence" does not necessarily imply human extinction, or temporary collapse of civilization, or most people dying. One needs further premises about escalation, spread, nuclear winter, human social resilience, etc.
Note also that Hellman's calculation (however rough) is for a Cuban Missile crisis type scenario which would be more likely to escalate/spread than e.g. a terrorist attack.
From Risk Analysis of Nuclear Deterrence by Martin Hellman. See also http://nuclearrisk.org/
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