This paper studies the vehicle scheduling problem in cities for the pickup and delivery service. Considering customer point as vehicle collaboration point, we propose a two-stage algorithm based on customer point collaboration through the theory of optimization. In addition to considering the problem whether the isolated customer point is collaborative, the algorithm also takes into account the problem whether the customers on the vehicle (picking up multiple customer points) can transfer its customers to the other basic vehicle. Moreover, the selection of the type of basic vehicles is no longer single; we can choose different types of vehicles suitable for different vehicle capacities according to the total number of people to carry. Finally, we perform simulation analysis and simulation results show that the algorithm proposed in this paper is feasible and effective.