Complex sentence: Scipio countered an expected Carthaginian elephant charge, which caused some of Hannibal's elephants to turn back into his own ranks, throwing his cavalry into disarray, the Roman cavalry was able to capitalize on this and drive the Carthaginian cavalry from the field.
Split into simpler sentences: Scipio countered an expected Carthaginian elephant charge, which caused some of Hannibal's elephants to turn back into his own ranks, throwing his cavalry into disarray. The Roman cavalry was able to capitalize on this and drive the Carthaginian cavalry from the field.