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You're defending your castle, yes? They attacked you?
They should usually send some siege weaponry to do something... usually rather stupid.
If you sally - that is, if on the campaign map you actually ATTACK the sieging army then the AI switches to "Defensive." The Defensive AI is famous for a) sitting and waiting for you to come back and b) claiming insanely high hills, forcing you to exit.
Try enabling the time limit, 6x speed, and a tea break. I think that'll make you win if you're defending if you leave it long enough.
The games AI can be dumb at times so be sure to set a time limit.
Also, make sure you're not attacking them. You're the one attacking if you click the attack button. Doesn't matter if they're waiting outside your walls or not.
Especially with the Mongols/Timurids. The Timurids usually send their elephants forward to the gate ( why I don't know ) so they become easy targets for your cities/castles defences allowing you to kill a ton of elephants. This usually happens when they have siege equipment which is subsequently destroyed on the approach or have siege weaponry that isn't firing.