Assuming the NVIDIA drivers and Docker and nvidia-docker are properly installed.
$ cd Autoware/docker
# Ubuntu 14.04 (Indigo)
$ sh build.sh indigo
# Ubuntu 16.04 (Kinetic)
$ sh build.sh kinetic
$ Default shared directory path is /home/$USER/shared_dir
$ sh run.sh
# If you select your shared directory path
$ sh run.sh {SHARED_DIR_PATH}