Assuming the form factor doesn't go away, DVD-Rs are probably not a bad choice. Even with Blu-Ray and HD-DVD coming soon, I think regular old DVDs will be commonplace for at least 10 years (and most future players are looking to be backwards-compatible, at least for the next generation). Any new format looking to replace DVD is going to be a hard sell if the players aren't backwards-compatible with the basic DVD standard.
The only other thing I'd really consider would be DLT tapes. They're widely used in the business world, and so readers will likely continue to be available for a long time.
Now, storage longevity (in terms of actually being able to retrieve your data) is another question. I'm not sure *anything* has been proven 100% reliable for 10-20+ year storage -- you can only do accelerated lifespan testing (obviously), which only gives you estimates. Tapes are magnetically stable for decades, but the physical material can break down or stiffen, making reading it back difficult or impossible. DVDs are *supposed* to be good for a pretty long time, but then again, that's what they said about CDs...
If you're really serious about archiving digital material over the long term, I'd suggest burning onto DVD for now, and re-copying it onto fresh media every 3-5 years. Odds are you'll also be able to consolidate onto larger, cheaper future media at the same time, thus neatly avoiding the whole "oops, now I've got a drawer full of Y2K-era media that no computer can read" problem.