[SPARK-19435][SQL] Type coercion between ArrayTypes

## What changes were proposed in this pull request?

This PR proposes to support type coercion between `ArrayType`s where the element types are compatible.

**Before**

```
Seq(Array(1)).toDF("a").selectExpr("greatest(a, array(1D))")
org.apache.spark.sql.AnalysisException: cannot resolve 'greatest(`a`, array(1.0D))' due to data type mismatch: The expressions should all have the same type, got GREATEST(array<int>, array<double>).; line 1 pos 0;

Seq(Array(1)).toDF("a").selectExpr("least(a, array(1D))")
org.apache.spark.sql.AnalysisException: cannot resolve 'least(`a`, array(1.0D))' due to data type mismatch: The expressions should all have the same type, got LEAST(array<int>, array<double>).; line 1 pos 0;

sql("SELECT * FROM values (array(0)), (array(1D)) as data(a)")
org.apache.spark.sql.AnalysisException: incompatible types found in column a for inline table; line 1 pos 14

Seq(Array(1)).toDF("a").union(Seq(Array(1D)).toDF("b"))
org.apache.spark.sql.AnalysisException: Union can only be performed on tables with the compatible column types. ArrayType(DoubleType,false) <> ArrayType(IntegerType,false) at the first column of the second table;;

sql("SELECT IF(1=1, array(1), array(1D))")
org.apache.spark.sql.AnalysisException: cannot resolve '(IF((1 = 1), array(1), array(1.0D)))' due to data type mismatch: differing types in '(IF((1 = 1), array(1), array(1.0D)))' (array<int> and array<double>).; line 1 pos 7;
```

**After**

```scala
Seq(Array(1)).toDF("a").selectExpr("greatest(a, array(1D))")
res5: org.apache.spark.sql.DataFrame = [greatest(a, array(1.0)): array<double>]

Seq(Array(1)).toDF("a").selectExpr("least(a, array(1D))")
res6: org.apache.spark.sql.DataFrame = [least(a, array(1.0)): array<double>]

sql("SELECT * FROM values (array(0)), (array(1D)) as data(a)")
res8: org.apache.spark.sql.DataFrame = [a: array<double>]

Seq(Array(1)).toDF("a").union(Seq(Array(1D)).toDF("b"))
res10: org.apache.spark.sql.Dataset[org.apache.spark.sql.Row] = [a: array<double>]

sql("SELECT IF(1=1, array(1), array(1D))")
res15: org.apache.spark.sql.DataFrame = [(IF((1 = 1), array(1), array(1.0))): array<double>]
```

## How was this patch tested?

Unit tests in `TypeCoercion` and Jenkins tests and

building with scala 2.10

```scala
./dev/change-scala-version.sh 2.10
./build/mvn -Pyarn -Phadoop-2.4 -Dscala-2.10 -DskipTests clean package
```

Author: hyukjinkwon <gurwls223@gmail.com>

Closes #16777 from HyukjinKwon/SPARK-19435.