Nothing less than 192, but it depends on the compressor, options and music source.
Honestly I can tell lots of difference between 192 and 128. It is hard to tell difference between 192 and 256 or 320, HOWEVER, given source media diffrences, it is very easy to find stuff that encodes crappy under 192, and marginal under 256 and close enough under 320.
Here are some ideas of music to get to see if you're encoding high enough.
Things with lots of symbols. These tend to get REALLY "swooshy" on lower bit rate encodes.
Things with interesting electronic keyboard synthesized effects. Not talking regular electronic keyboard/regular sounds, but those that purposely play with the ADSR (Attack, Decay, sustain, release) effects of a normal note. Encoders are meant to handle normal ADSR situations, but electronic synths can change the levels of each drastically giving good sounds, but very very tough to encode properly.
One of the best examples of music I use to test encoders is Lenny Kravitz's "Are you gonna go my way?"
A few local radio stations have converted their entire CD libary to 128 kbps MP3 encodings, and whenever this song comes on, I actually HAVE to turn the channel because it sounds so absolute crappy You'd think that even with FM's ~96kbps maximum quality that 128 would be more than enough, but the amount of artifacts that are added to the song are horrendous, and unlistenable, at least to my ear.
Basically, it ends up making the guitar chords choppy and the background cymbols? sound like a rasp on wood, or a hair dryer on low spinning around in a circle

Another good disc to use is Frankie Goes to Hollywood's Relax (the single mix disc--6 long edits all different). I can use that because it uses very discrete sounds at the beginning of the sound and I use it to listen to echo's or raspyness.
To archive my CD collection, I actually used Monkey's Audio to make the master rip (lossless encoder) then I never have to rerip if I want to make comp discs or whatever, but if I was to archive direct to MP3, I'd choose 320 VBR with all the optimizations for quality. Computers are fast enough now that it doesn't matter that it takes longer to encode at these rates, and CDRs are free after rebate and DVDR's are < 30 cents afer rebate or < 45 cents directly.