Automatic merge from submit-queue (batch tested with PRs 61183, 58807). 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>.

Add RBAC information to audit logs

Depends on: https://github.com/kubernetes/kubernetes/pull/58806
**Release note**:
```release-note
RBAC information is included in audit logs via audit.Event annotations:
authorization.k8s.io/decision = {allow, forbid}
authorization.k8s.io/reason = human-readable reason for the decision
```