SELECT * FROM table 1b LEFT JOIN table2 p ON b.id=p.id_board WHERE (p.id_parametr = 1 AND p.value_parametr = 'Audi') AND (p.id_parametr = 3 AND p.value_parametr = '200') GROUP BY b.title

 id_board    value parametr          id_parametr           
 --------------------------------------------------

1              | Audi                           | 1 |        
1              | 200                            | 3 |        
 --------------------------------------------------

 id
 ----
| 1 |               
 ----

... LEFT JOIN table2 p ... WHERE (p.id_parametr = 1 ...

SELECT * FROM table2 p
WHERE 
    p.id_parametr = 1 
      AND 
    p.id_parametr = 3

SELECT * FROM table2 p
WHERE 
    (p.id_parametr = 1 
      or
    p.id_parametr = 3) AND ...

CREATE TABLE IF NOT EXISTS `sw_board_parametr` (
  `id` int(11) NOT NULL,
  `id_board` int(11) NOT NULL DEFAULT '0',
  `id_parametr` int(11) NOT NULL DEFAULT '0',
  `value_parametr` varchar(40) NOT NULL DEFAULT ''
) ENGINE=InnoDB AUTO_INCREMENT=15 DEFAULT CHARSET=utf8;

INSERT INTO `sw_board_parametr` (`id`, `id_board`, `id_parametr`, `value_parametr`) VALUES
(1, 1, 1, 'Audi'),
(2, 2, 1, 'Audi'),
(3, 2, 2, '2014'),
(4, 2, 3, '200'),
(5, 2, 5, 'Вариатор'),
(6, 2, 6, 'Газ'),
(7, 2, 7, '4WD'),
(8, 2, 8, 'Микроавтобус'),
(9, 3, 1, 'BMW'),
(10, 3, 2, '2014'),
(11, 3, 3, '1-Series'),
(12, 3, 5, 'Автомат'),
(13, 3, 6, 'Газ'),
(14, 3, 7, '4WD');
ALTER TABLE `sw_board_parametr`
  ADD PRIMARY KEY (`id`);

SET SQL_MODE = "NO_AUTO_VALUE_ON_ZERO";
SET time_zone = "+00:00";

CREATE TABLE IF NOT EXISTS `sw_board` (
  `id` int(11) NOT NULL,
  `title` varchar(300) NOT NULL,
  `phone` varchar(11) NOT NULL DEFAULT '',
  `email` varchar(50) NOT NULL DEFAULT '',
  `notice` smallint(1) NOT NULL DEFAULT '0',
  `region_id` mediumint(8) NOT NULL DEFAULT '0',
  `cat_id` mediumint(8) NOT NULL DEFAULT '0',
  `subcat_id` mediumint(8) NOT NULL DEFAULT '0',
  `rubric_id` mediumint(8) NOT NULL DEFAULT '0',
  `text_option` text NOT NULL,
  `price` mediumint(8) NOT NULL DEFAULT '0',
  `pacing_day` smallint(2) NOT NULL DEFAULT '0',
  `date_post` int(10) NOT NULL DEFAULT '0',
  `photo` text NOT NULL,
  `comments` smallint(1) NOT NULL DEFAULT '0'
) ENGINE=InnoDB AUTO_INCREMENT=4 DEFAULT CHARSET=utf8;

INSERT INTO `sw_board` (`id`, `title`, `phone`, `email`, `notice`, `region_id`, `cat_id`, `subcat_id`, `rubric_id`, `text_option`, `price`, `pacing_day`, `date_post`, `photo`, `comments`) VALUES
(1, 'Продам audi', '9174946173', 'hbixa@mail.ru', 1, 0, 1, 2, 9, '', 1000000, 3, 1443608714, '', 1),
(2, 'Продам audi 2', '9174946173', 'hbixa@mail.ru', 1, 0, 1, 2, 9, '', 1000000, 3, 1443608765, '', 1),
(3, 'Продам BMW', '9174946173', 'hbixa@mail.ru', 1, 0, 1, 2, 0, '', 1000000, 3, 1443610961, '', 1);

ALTER TABLE `sw_board`
  ADD PRIMARY KEY (`id`);