[SPARK-3103] [PySpark] fix saveAsTextFile() with utf-8

bugfix: It will raise an exception when it try to encode non-ASCII strings into unicode. It should only encode unicode as "utf-8".

Author: Davies Liu <davies.liu@gmail.com>

Closes #2018 from davies/fix_utf8 and squashes the following commits:

4db7967 [Davies Liu] fix saveAsTextFile() with utf-8