Cross Compilation Requirements for ARM Target

The instructions for cross compilation in this document: http://docs.nvidia.com/cuda/cuda-installation-guide-linux/#cross-platform are clear for the most part - I have some questions regarding it and would appreciate some feedback:

  1. Does the ‘host’ need to have the nvidia driver for the GPU in question installed?
  2. What exactly needs to be installed on the target (libraries? GPU driver?).
  3. If a driver is needed for the target, does the version between the host and the target need to match?

The host in my case is Ubuntu 64-bit 14.04 LTS.
The target is the Xilinx Zynq SoC (dual-core ARM9 - ARMv7l architecture) running Linux.

Thank you in advance.