If theres more then 1 row of infantry, aim for the 2nd rank. Doing this will make your cavalry charge through the first rank aiming at the second one, but because they don't hit the 2nd rank until going through the first, it doesn't mess up cohesion like charging at the first rank.
edit: also, i've done this before where i've decimated an entire enemy unit, and still did some charge damage to the unit i was targeting
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