I have just learned to play shogi on Xbox to make me realised that one of my game design was a chess like game where you could customize your army.
Not I know that in chess, every piece has a value. But how did they setup this value. Is there any guide lines somewhere.
So As I can see, there is no optimal mathematical solution to the problem.
Space covered by a piece placed in the middle is a good evaluation idea.
As indicated some piece like knight and bishop are more useful at the beginning of the game while other pieces like the rook are more useful at the end of the game. Still, it somewhat counter-balance itself.
There are other things to consider, for example in shogi, some pieces cannot move backward. This can be a serious disadvantage. So a unit that moves backward should worth more.
Also in shogi, you can place new pieces on the board through the course of the game. Which mean that the average number of pieces on the board will always be the same. So unlike in chess, there won't be pieces more useful at the beginning or at the end of a game.