I know what you mean. I do nighttime volunteer work at a downtown church. Often on the way home I see solitary women walking to their cars or waiting at a bus stop. I don’t like to think of them all alone at night in a dodgy neighborhood, but I’m too scared to offer them a lift.
Chivalry is dead — but not from natural causes.
And you shouldn't. Look after yourself first and foremost. There is no way in hell that I would get involved with anyone "on the street" notwithstanding my state's Good Samaritan Law. I will take my chances with prosecution under that law.
Given the society in which we now live, one should look after himself and himself only. Call me callous but that's the way I feel.