It’s not in IBC, so I wouldn’t be surprised if it’s not in other codes.
It’s important that your ramp not be an egress path, or you’ll be limited to ADA slopes, which are far too small for vehicle ramps.
Older versions of Graphic Standards have guidelines that will be helpful to you. It defines the problem into three “levels of service”. The worst level of service (3 I think) maxes out at 16% slope.
If you go higher than 8% or so, you absolutely need transition ramps at the bottom AND top of the ramp, or vehicles with longer wheelbases or lower clearances will not be able to use your ramp. The transitions should be half the slope of the ramp. I’m not completely sure what length should be used for the transitions, but again, I think Graphic Standards has some guidance. Otherwise, common sense and maybe some help from your civil engineer can get you there.