By what I know of it the damn horses actually tended to pull short rather than smash into what to them appeared like a large, solid, immobile obstacle. The critters are very picky about footing, and can apparently reduce speed surprisingly rapidly.
Anyway, AFAIK the infantrymen would tend to survive the impact of even heavy warhorse pretty well if they were in proper formation and "braced for impact". It's not like even a fully barded large warhorse is equivalent to a car or similar; the collision would of course push the front ranks back, but as they were being pushed into something relatively yielding (ie. the men behind them) by something relatively yielding (ie. a big animal) actual injuries would be fairly minor. Nasty bruises and some broken bones, naturally, but I for one consider those *far* lesser an evil than what happens if you fall down and get trod over by the big beast, or get hit by its rider's choice tool of personal destruction.
I sincerely doubt if the impact of a horse could actually shatter a shield, too. A solid hit from a decent mace or axe would reduce a shield to splinters in one go, but that's because the things concentrate the impact; a charging horse is, ultimately, no more "concentrated" than for example a football quarterback.
Which is of course why cavalrymen so long ago figured out it'd be a really nice thing if all that momentum could be concentrated behind somehting, like a long pointy stick... Works both ways, though. A horse or its rider that hits the tip of a properly "set" polearm (ie. braced on the ground, the tip usually at the level of the horse's chest) on a charge will be impacting with the same full momentum that goes behind a lance tip, and tends to get duly skewered. (Armour helps a bit as usual, though.)
Which is another reason why spears and other polearms were so popular; not only do they have enough reach to negate the height advantage of a cavalryman (or the reach advantage of another similar weapon), they could be used to turn one of the horse's greatest assets against itself.
However, even infantry without long and pointy things has time and again demonstrated it can check a heavy cavalry charge if it keeps it nerve and deploys in a suitable formation; that Roman legionaires with their javelins and short swords indeed could take on Persian cataphracts is a good example, although I understand in that particular case they tended to have a rather hard time at it...
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