Since 5G new radio comes with non-standalone (NSA) and standalone (SA) versions in 3GPP, research on 6G has been on schedule by academics and industries. Though 6G is supposed to have much higher capabilities than 5G, yet there is no clear description about what 6G is. In this article, a comprehensive discussion of 6G is given based on the review of 5G developments, covering visions and requirements, technology trends and challenges, aiming at tackling the challenge of coverage, capacity, the user data rate and movement speed of mobile communication system. The vision of 6G is to fully support the development of a Ubiquitous Intelligent Mobile Society with intelligent life and industries. Finally, the roadmap of the 6G standard is suggested for the future.