The manual states every year, or 15,000 km (10,000 miles).
Somewhere official (can't remember where) it also states that
if you're doing mainly short journeys to do it every 7500km (5000 miles).
HOWEVER... these figures are not for people keeping the car as long as us, to as high a mileage as (some of) us...
treat these as a minimum and aim for more frequent changes.
I aim for every 3000 miles on the basis that I want to hold off buying a new car for as long as possible. Obviously people that lease cars or own them for only a few years can get away with nearly zero maintenance