Automatic merge from submit-queue

Kubelet: Add the docker semver back.

Fixes #28221.
This PR:
1) Add the semver back https://github.com/kubernetes/kubernetes/pull/20020
2) Remove the code in https://github.com/kubernetes/kubernetes/pull/20827, because docker 1.8 is not officially supported now, and we want to deprecate it. https://github.com/kubernetes/kubernetes/pull/27208
3) Add a test for docker version comparison.

XRef https://github.com/kubernetes/kubernetes/pull/28223

@yujuhong 
/cc @ingvagabund 

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