It happens when the system can't find the dynamic linker bindings, though you probably set every environment correctly and compiled the program successfully.
Here is the solution.
32-bit: sudo ldconfig /usr/local/cuda/lib
64-bit: sudo ldconfig /usr/local/cuda/lib64
Thanks.(http://stackoverflow.com/questions/10808958/why-cant-libcudart-so-4-be-found-when-compiling-the-cuda-samples-under-ubuntu)