this was covered well in 3.0 DMG.
spotting distance (grassland terrain, little cover) - 6d6 x 20ft.
base DC to spot = 20. if a creature is hiding (keeping low in the grass, for example) it moves only at half speed and takes -2 penalty to its own spot checks, but base DC to spot it is 25 + Hide modifier instead.
concerning spotting centaurs i'd say that base DC should be around 14 (20 -4 for large size, -2 for a pack of 6+ creatures)
as to how often to make spot checks - use the rules for random wilderness encounters. for example let's say that PCs have a 12% chance to pass by scouting centaur pack each hour. so just roll d% each hour. if you roll and encounter but both parties fail their spot checks - roll survival checks to see if they notice each other's footprints or other signs of intruders' presence.