A few kilometers into the charge, Richard called for a halt to the advance, relying on his own knowledge of Turkic/Mongol strategy. Some of his leaders kept going anyways and died, though most of his army quickly obeyed. That maintained the victory since he didn't get pulled into the trap you mentioned.

Trust cuts both ways. Senior leadership needs to be trustworthy, so when the time comes to make a decision based on information you can't easily reveal to employees, they follow you.

You need to tell people to take the initiative to charge, and cut them off before they die.

That's a difficult balance to strike. But it's how you pull off a victory against an army twice your size thousands of miles from home.