error: CUDA driver version is insufficient for CUDA runtime version

driver version: 384.130
card: Titan Xp
OS: ubuntu 16.04

When I run tensorflow-gpu, I got below error:
CUDA driver version is insufficient for CUDA runtime version

What is compatibility CUDA for the nvidia drivers?
How do I solve this problem?

https://docs.nvidia.com/cuda/cuda-toolkit-release-notes/index.html

scroll down to table 1

upgrade the driver?