Not necessarily. Often, the horses were smarter than the riders, and would balk at charging well-disciplined infantry who looked like they might be armed with pikes.

See, the tactics were such that the pikes would sometimes be hidden in what ever ground cover was available and raised (and braced, like jay-t said) at the last moment as the cavalry charged. Of course, probably just as often the pikes would be presented at the beginning of a battle, as a *deterrent* to such a charge.

In either case, if the cavalry (of varying, but usually much more heavily armored than infantry) really wanted to continue the charge, they would often have to force the horse to do so.

There has never been a case, to my knowledge when medieval cavalry got the best of well-disciplined infantry: i. e. infantry that stood their ground and formation throughout the battle.

However, the well-disciplined part is the kicker: the reputation and reality of medieval knights were such that, infantry, even in a controlled formation at the beginning of a battle, would break and run. In which case, the cavalry has it all over the infantry. Hence, the need for a claymore for the (realitively rich) infantryman: it gave him a somewhat better chance in a one-on-one fight with a better armored cavalryman.

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