7,500-10,000 miles using "german" castrol syntec 0w30 (red labled, says made in germany on back of bottle), on my father's 1998 Audi A6 2.8 30v. This is a very good oil, btw, if you can find it.
5,000-7,500 on the hondas I service using Mobil 1 10w30 synthetic.
3,750-5,000 on the previa with regular dino Chevron supreme oil.
and like Eli mentioned, color should NOT be the sole determiner in when to change the oil; city/stop&go are conditions in which to change your oil more frequently.
If your car doens't see much use, at least try to get the oil up to temp once a week by driving it for at least 15 minutes or so on the freeway, not the city. Getting the oil up to temp regularly will help prevent oxidation, and keep your engine clean; the cleaning additives in oil work best when at operating temps. City driving and long idling periods increase fuel dilution in your oil, and fuel in your oil reduces the viscosity (and increases flashpint) and therefore reduces the protection your engine receives.