There is still not a commonly accepted standard on how to evaluate the steering performance of a vehicle equipped with electric powering steering (EPS) system. The subjective evaluation of steering performance of vehicles equipped with EPS is introduced and the comprehensive evaluation of the performance under two kinds of driving conditions——with the vehicle at stationary state (fixed-site steering) and at running state is raised. Besides, we investigated the corresponding subjective evaluation items, scoring approaches and calculation of comprehensive evaluation index. Subjective evaluation of testing vehicle has been presented after the experiment of steering performances and the results are reasonable. The subjective evaluation method is helpful to establish evaluation criterion of the EPS steering performance and assist the development of EPS.