No need to take any paper from bank.
As you are the owner of the car you should have valid driving license.
You just have to pay 200 QAR for Vehicle Insurance Fee at Qatar Exit Border.
No nothing like that any guidelines as well as you have Visa.But my Suggestion is try to go little eary as there will be heavy rush and long queue.So mentally & Physically be ready to cope up with patience during Qatar Exit Border.
Expecting in your prayers.