Asteroid
Although their location in the asteroid belt excludes them from planet status, the three largest objects, Ceres, Vesta, and Pallas, are intact protoplanets that share many characteristics common to planets, and are atypical compared to the majority of "potato"-shaped asteroids. The fourth largest asteroid, Hygiea, has an undifferentiated interior, like the majority of asteroids. Between them, the four largest asteroids constitute half the mass of the asteroid belt.
Asteroid impact prediction
The minimum orbit intersection distance (MOID) between an asteroid and the Earth is the distance between the closest points of their orbits. This first check is a coarse measure that does not allow an impact prediction to be made, but is based solely on the orbit parameters and gives an initial measure of how close to Earth the asteroid could come. If the MOID is large then the two objects never come near each other. In this case, unless the orbit of the asteroid is perturbed so that the MOID is reduced at some point in the future, it will never impact Earth and can be ignored. However if the MOID is small then it is necessary to carry out more detailed calculations to determine if an impact will happen in the future. NASA considers asteroids with a MOID of less than 0.05 AU and an absolute magnitude brighter than 22 to be a potentially hazardous asteroid.