I am terrible cav, but the easiest method I use to attacking aware infantry is close to feinting but using my horses speed instead. Essentially slowing down for them to swing early and then speeding up to secure my hit and add some speed bonus. When in doubt however, I try my best to veer away from their hit and see if I can headbutt them to the ground. (In the case I messed up the above method, knocking them down sometimes stops their attack from hitting me)
Also, if incoming cav is attacking you as a 1h, thrust works better than right swing.