The Torah, in its beautiful and often surprising way, actually addresses this very question. to a fascinating little corner of Jewish law, found in Sifrei Devarim, a collection of legal interpretations on the Book of Deuteronomy.
The passage we're looking at deals with the mitzvah, the commandment, of helping someone with a fallen animal. Specifically, the Torah commands us with "and (you shall) ignore them" (Deuteronomy 22:4), which sounds a bit harsh, doesn't it? But hold on! As the Sifrei Devarim (225) so cleverly points out: "Sometimes you do ignore them and sometimes you do not ignore them."
So, when are we allowed to "ignore" someone in need? Well, imagine this: a