[Nvidia DRIVE AGX] Cannot load libnvidia-encode.so.1

We’re trying to use ffmpeg to encode raw images to mkv video file.
But we encounter this issue when running our code:

[hevc_nvenc @ 0x7f64002b80] Cannot load libnvidia-encode.so.1
[hevc_nvenc @ 0x7f64002b80] The minimum required Nvidia driver for nvenc is 390.25 or newer

And we cannot install it via apt

sudo apt-get install -y libnvidia-encode

Reading package lists… Done
Building dependency tree
Reading state information… Done
Note, selecting ‘nvidia-340:armhf’ instead of ‘libnvidia-encode:armhf’
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
nvidia-340:armhf : Depends: make:armhf
Depends: dkms:armhf
Depends: linux-libc-dev:armhf but it is not going to be installed
Depends: libc6-dev:armhf but it is not going to be installed
Depends: acpid:armhf but it is not going to be installed
Depends: xserver-xorg-legacy:armhf but it is not going to be installed
Depends: libc6:armhf (>= 2.7) but it is not going to be installed
Depends: xorg-video-abi-11:armhf but it is not installable or
xorg-video-abi-12:armhf but it is not installable or
xorg-video-abi-13:armhf but it is not installable or
xorg-video-abi-14:armhf but it is not installable or
xorg-video-abi-15:armhf but it is not installable or
xorg-video-abi-18:armhf but it is not installable or
xorg-video-abi-19:armhf but it is not installable or
xorg-video-abi-20:armhf but it is not installable or
xorg-video-abi-23:armhf
Depends: xserver-xorg-core:armhf (>= 2:1.19.6-1ubuntu2) but it is not going to be

Could you guys please give me some advice?

Please provide the following info:
Software Version
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version
other

Target Operating System
Linux
QNX
other

Hardware Platform
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)
other

SDK Manager Version
1.4.0.7363
other

Host Machine Version
native Ubuntu 18.04
other

Dear @anphamquoc ,
Could you please use your business email ID while posting topic for better support