refactor(cuda): use --no-cuda-drivers option to simplify code

[kenji-miyake]

Description

Use the option added in #338.

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[kenji-miyake]

CI:

• https://github.com/autowarefoundation/autoware/runs/6555208428?check_suite_focus=true
• https://github.com/autowarefoundation/autoware/runs/6555212876?check_suite_focus=true

After fixing base_image:

• https://github.com/autowarefoundation/autoware/runs/6555296680?check_suite_focus=true
• https://github.com/autowarefoundation/autoware/runs/6555297489?check_suite_focus=true

[kenji-miyake]

I'll merge this after checking the CI results.