tho this things been talked about for miles here's my 2c - charge works pretty well and feels better when u pull it off - what i would change is something so that the terrain doesnt mess it up that often.

my easy way to ensure a good hit: just see that they have their lances equipped and face the enemy - single click attack - and when they lower the lances press r(once) to give them speed and make sure they dont stop just before the enemy line