Through extensive ABX testing with difficult samples and oggenc 1.1.0, I found that at q5.65 telling the difference from the original started to become difficult. Anything below that was pretty easy. By q6.5 is was pretty much impossible. If I were to err on the side of caution, I would be perfectly happy with q7. Despite all that I use q4.25 for converting my lossless files for use on my Karma. This is a personal choice since I feel for me it's the sweet spot between file size, battery life, and artifacts.
Looks great, doesn't it? You have to realize though that this means little to nothing for anyone but myself. It's my ears and equipment after all. As the above poster said, you have to put it some effort and discover for yourself what is good for you.
Edit: Wanted to mention my Karma.