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As of today, the fifth generation (5G) mobile communication system has been rolled out in many countries and the number of 5G subscribers already reaches a very large scale. It is time for academia and industry to shift their attention towards the next generation. At this crossroad, an overview of the current state of the art and a vision of future communications are definitely of interest. This article thus aims to provide a comprehensive survey to draw a picture of the sixth generation (6G) system in terms of drivers, use cases, usage scenarios, requirements, key performance indicators (KPIs), architecture, and enabling technologies. First, we attempt to answer the question of “Is there any need for 6G?” by shedding light on its key driving factors, in which we predict the explosive growth of mobile traffic until 2030, and envision potential use cases and usage scenarios. Second, the technical requirements of 6G are …