The problem is that pickup and destination are strings, which is what the jQuery .val()
function returns.
The LatLng constructor expects floats. Wrap your pickup and destination values in parseFloat to convert them from string to floats.
In fact as they're actually a list, each containing two items, you'll need to split them into their two separate parts first as well.
var pickup = $('#txt-pickup-lat-long').val();
var pickupLat = pickup.split(",")[0];
var pickupLng = pickup.split(",")[1];
var start = new google.maps.LatLng(parseFloat(pickupLat), parseFloat(pickupLng));