It can be a few days since the asteroid becoming visible to an unaided eye, however, only in the last minutes this will turn into something spectacular.
From which distance a 6km asteroid is visible? We have to estimate several factors, such as its albedo and angle of approach to Earth.
Using Size and Magnitude calculator and assuming albedo is 0.15 (15% of the light is reflected), we can estimate Absolute Magnitude of our asteroid about 13.8
Next, let's assume that Apparent Magnitude should equal to 5, meaning that celestial body is becoming visible to unaided eye.
Using Formula here and assuming that our asteroid is approaching from outer Solar System, we have the following equation:
$ 5 = 13.8 + 2.5 \times \log \left(\frac{3}{2} \times x^2 \right) $ ($x$ here is the distance from Earth to the asteroid, in AU)
$ -3.52 = \log \left(\frac{3}{2} \times x^2 \right) $
$ 0.000302 = \frac{3}{2} \times x^2 $
$ 0.000201 = x^2 $
$ x = 0.0142 ~\text{AU} $ or $ x = 2\,120\,915 ~\text{km} $
This is the distance at which our asteroid should become visible.
If Earth and asteroid are on converging trajectories, speed of approach can be as low as 10 km/s and even less. At 10 km/s this would translate to about 2.5 days during which it would be seen as a moving and brightening star.
However, it would not be immediately noticeable to regular people. Only during the last hour it would become bright enough to draw attention, and only in the last minutes it will enter Earth's atmosphere and become a meteor.
In a different scenario, when the asteroid would approach the Earth from the direction opposite the Earth own movement, it would be much less visible, and for a much shorter time.
P.S. If your people can evacuate to a different planet, it would be logical to assume that they have astronomy advanced to at least early XXI century Earth level, so they can predict asteroid impacts decades in advance.