Dear @zhangpeixing,
For TensorRT sample cross compilation, please check Build and Run Sample Applications for DRIVE OS 6.x Linux | NVIDIA Docs
If you want to compile the samples on target, The TRT libs can be found at /usr/lib/aarch64-linux-gnu on target . TRT headers are not part of target. The headers can be found at /usr/include/aarch64-linux-gnu on docker . You need to copy the missing header files to /usr/include/aarch64-linux-gnu on target. Copy the TRT samples to /usr/src/tensorrt/ on target.
For sample compilation check running make from /usr/src/tensorrt/samples/ folder. Let us know if you notice any issues.