The growing demand for high-performance, energy-efficient execution of data-parallel workloads has driven the resurgence of vector processors, yet their expanding instruction sets exacerbate the area-performance tradeoff of vector processing units (VPUs). Processing-in-memory (PIM) technique offers a promising path to mitigate this tradeoff by offloading vector operations near data. However, integrating the computing-capable SRAM (C-SRAM) with conventional VPUs introduces significant architectural challenges, including inefficient coordination between heterogeneous devices, the lack of a unified hardware/software interface, and underutilized parallelism within the C-SRAM arrays due to unoptimized data handling. To address these challenges, this article proposes a heterogeneous VPU (HVPU) that seamlessly integrates a standard VPU inside a vector processor with a C-SRAM for more efficient vector processing. HVPU introduces a standardized interface between the processor frontend and the C-SRAM, enabling instruction dispatch, dynamic hazard resolution, and concurrent execution. Furthermore, it employs multiple independent PIM blocks coupled with dual controlling pipelines inside the C-SRAM for further performance improvement. This design facilitates pipelined data loading and computing, effectively hiding memory latency and fully unlocking the parallel potential of C-SRAM. The system is supported by a user-friendly and generic programming model featuring a two-layer extended ISA system and a vector batch pipelining mechanism. Experimental results show that our HVPU-enhanced processor achieves significant speedups of 5.11× to 39.0× over the Xuantie-910 baseline on vector benchmarks, respectively, while reducing energy consumption by 75% on average. Meanwhile, it outperforms state-of-the-art PIM accelerators by 1.33× to 1.97× on the same benchmarks, with minimal area overhead. This demonstrates that our architectural co-design effectively alleviates the area-performance tradeoff in vector processors and offers a scalable heterogeneous architecture template for efficient vector processing.