The X-ray emission spectra produced by 2.4-6.0 MeV Xe20+ ions impacting on vanadium surface were measured. The V K-shell X-ray production cross sections were extracted from the experimental yield data and compared with the theoretical predictions of the binary encounter approximation (BEA), the plane wave born approximation (PWBA), and the energy-loss coulomb-repulsion perturbed-stationary-state relativist (ECPSSR). In order to predict reasonably the inner-shell ionization induced by highly charged heavy ions during the asymmetric collisions at near the Bohr velocity, the corrections of BEA model are discussed. It is found that the X-ray production cross section induced by highly charged heavy ions moving at near the Bohr velocity is on the magnitude of 1 barn, which is almost four orders of magnitude larger than that induced by proton. The ECPSSR, which is regarded as the best model to simulate the inner-shell ionization by light ions, may underestimate the experimental data at least three orders of magnitude. The PWBA model presents a prediction to the results on an order of magnitude better than the ECPSSR simulation, but gives a worse tendency than the BEA model. The BEA calculations, corrected both by Coulomb repulsion and effective nuclear charge, present the best agreement with the experimental results. It is proposed, that in the energy region near the Bohr velocity, during the asymmetric collisions of Xe20+ ions with V atoms, the K-shell electron of V is ionized by direct ionization, and that it can be described by the binary encounter process between the xenon ions and the bound electrons. The X-ray production cross section can be simulated by BEA model, but the corrections of Coulomb repulsion and effective nuclear charge must be considered.