As @Patric W and Google Cloud documentation mentioned:

After adding GPU nodes to your cluster, you need to install NVIDIA's device drivers to the nodes. Google provides a DaemonSet that automatically installs the drivers for you.

So all We have to do is to apply DaemonSet provided by Google.

For Container-Optimized OS (COS) nodes:

kubectl apply -f https://raw.githubusercontent.com/GoogleCloudPlatform/container-engine-accelerators/master/nvidia-driver-installer/cos/daemonset-preloaded.yaml

For Ubuntu Nodes:

kubectl apply -f https://raw.githubusercontent.com/GoogleCloudPlatform/container-engine-accelerators/master/nvidia-driver-installer/ubuntu/daemonset-preloaded.yaml

Based on Terraform documentation You can use provisioner "local-exec" to run kubectl apply command for DaemonSet after successful cluster deployment.

provisioner "local-exec" {
    command = "kubectl apply -f https://raw.githubusercontent.com/GoogleCloudPlatform/container-engine-accelerators/master/nvidia-driver-installer/cos/daemonset-preloaded.yaml"
  }
}

Note that example above is for COS node version.