A 911 call came in around 9:03 a.m. Tuesday after the car apparently drove off the 7th level.
The driver, 21-year-old Robert Jamison of Upper Macungie Township, was pulled from the car and rushed to the hospital.
However, Lehigh County Coroner Scott Grim said Jamison later died.
Grim said this is being ruled a suicide.
The view from Chopper 6 HD showed the wreckage of the car covered with a blue tarp.
A piece of guard rail on the roof of the garage was missing.