To improve the efficiency of last-mile delivery and reduce delivery costs, based on the demands for home delivery and self-pickup, this paper, proposes a hybrid delivery mode that combines home delivery with vehicle mobile parking for self-pickup. Subsequently, optimization research on delivery is conducted. Firstly, a correlation between vehicle parking scheduling and customers' self-pickup behavior is established through the study of customers' self-pickup. Building upon this foundation, an integrated decision-making process for vehicle stop location selection, parking time scheduling, and vehicle routing is carried out. A mixed-integer programming model is formulated with the objective of minimizing the sum of vehicle usage costs, routing costs, and self-pickup failure recovery costs. Subsequently, an improved variable neighborhood search algorithm is designed to efficiently solve this problem, and its effectiveness is validated through simulation experiments. Finally, a sensitivity analysis of the model and key parameters is conducted. Experimental results show that vehicle mobile parking for self-pickup, scheduling time granularity, number of stops, and charging mode significantly impact the delivery system. Comprehensive consideration of these factors holds practical significance in the optimization of the last-mile delivery system.