So, in my case, the kernel modules were not removed properly.

Here are the details:

root@Dell5280 [~]# cat /etc/lsb-release 
DISTRIB_ID=Ubuntu
DISTRIB_RELEASE=16.04
DISTRIB_CODENAME=xenial
DISTRIB_DESCRIPTION="Ubuntu 16.04.3 LTS

root@Dell5280 [~]# uname -r
4.13.0-31-generic

Problem:
root@Dell5280 [~]# modinfo vboxdrv
filename:       /lib/modules/4.13.0-31-generic/updates/dkms/vboxdrv.ko
version:        5.0.40_Ubuntu r115130 (0x00240000)
license:        GPL
description:    Oracle VM VirtualBox Support Driver
author:         Oracle Corporation
srcversion:     6D8B4900A693FC50489A130
depends:        
name:           vboxdrv
vermagic:       4.13.0-31-generic SMP mod_unload

FIX:

root@Dell5280 [~]# rm
/lib/modules/4.13.0-31-generic/updates/dkms/vboxdrv.ko

root@Dell5280 [~]# modinfo vboxdrv
filename:       /lib/modules/4.13.0-31-generic/updates/dkms/vboxdrv.ko
modinfo: ERROR: could not get modinfo from 'vboxdrv': No such file or directory
[1] root@Dell5280 [~]# /sbin/vboxconfig 
vboxdrv.sh: Stopping VirtualBox services.
vboxdrv.sh: Building VirtualBox kernel modules.
vboxdrv.sh: Starting VirtualBox services.

root@Dell5280 [~]# modinfo vboxdrv
filename:       /lib/modules/4.13.0-31-generic/misc/vboxdrv.ko
version:        5.2.7 r120349 (0x00290000)
license:        GPL
description:    Oracle VM VirtualBox Support Driver
author:         Oracle Corporation
srcversion:     4880B21EFF1B605D6402982
depends:        
name:           vboxdrv
vermagic:       4.13.0-31-generic SMP mod_unload 
parm:           force_async_tsc:force the asynchronous TSC mode (int)


After this, everything works (at least in my case)

Hope it helps.

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https://bugs.launchpad.net/bugs/1736116

Title:
  Host with kernel 4.13 freezes when starting a VM with VirtualBox

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