If not for that asteroid, humans wouldn't be here.

Humans can survive an impact. Maybe not the ones on the planet but those in space, provided people are able to build sustainable habitats, stand a greater chance. Might not want to be on the moon though. Large impact could send debris that way and the moon has no protection.

Humans also have the opportunity to live by taking on other forms. For example, AI. Technology will be in space. Human creations become the new life form. Science-fiction of course. Better than going extinct though, so probably worth the effort. Plus the tech can hold on to the memories, and maybe even find a suitable place to seed life.