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A pedestrian is classified as a Vulnerable Road User (VRU) because they do not have the protective equipment that would make them fatal if they were involved in an accident. An accident can happen while a pedestrian is on the road, especially when crossing the road. To ensure pedestrian safety, it is necessary to understand and predict pedestrian behaviour when crossing the road. We propose pedestrian intention prediction using a 2D pose estimation approach with temporal angle as a feature. Based on visual observation of the Joint Attention in Autonomous Driving (JAAD) dataset, we found that pedestrians tend to walk together in small groups while waiting to cross, and then this group is disbanded on the opposite side of the road. Thus, we propose to perform prediction with small group of pedestrians, based on pedestrian statistical data, we define a small group of pedestrians as consisting of 4 pedestrians …