Automatic merge from submit-queue (batch tested with PRs 61241, 62136). If you want to cherry-pick this change to another branch, please follow the instructions <a href="https://github.com/kubernetes/community/blob/master/contributors/devel/cherry-picks.md">here</a>.
OIDC required claims
**What this PR does / why we need it**:
Currently there is no mechanism for a user to specify claims in the OIDC authentication process that are required to be present in the ID Token with an expected value. This PR adds the required claims support for the OIDC authentication. It allows users to pass in a `--oidc-required-claims` flag, and key=value pairs in the API config, which will ensure that the specified `required claims` are checked against the ID Token claims.
**Which issue(s) this PR fixes** *(optional, in `fixes #<issue number>(, fixes #<issue_number>, ...)` format, will close the issue(s) when PR gets merged)*:
Fixes#61276
**Special notes for your reviewer**:
Ran the following commands to update godep files:
```
./hack/godep-restore.sh -v
./hack/godep-save.sh
./hack/update-staging-godeps.sh
./hack/update-bazel.sh
```
Since we don't officially support go 1.10, kept go version to 1.9
**Release note**:
```release-note
kube-apiserver: oidc authentication now supports requiring specific claims with `--oidc-required-claim=<claim>=<value>`
```
/sig auth
/kind feature
/assign @ericchiang
d1b38b21ef