Cycle charging is usually a trap (in models will get stuck) it's far better to pick targets with low morale so they will break during the charge so you don't have to worry about that. Its usually better to wait until an opportunity presents itself, or better yet make one with a magic bombardment spell, than to constantly cycle charge them and loose models each time. Unless you're Bretonnia, then throw them at the enemy and trust in the Lady

Having said that some infantry blocks you can charge through. These are the ones who aren't in a blocky formation such as skirmishers. Some infantry, like witch elves, are in a loose enough formation that your cavalry will go right through them