严重: Servlet.service() for servlet [dispatcherServlet] in context with path [] threw exception [Filte

新人求助，最近在练项目的时候出现这个问题：在IDEA中运行maven中Tomcat7插件会报这个错误，基于SSM框架+spring security写的，但是运行本地的Tomcat9则正常可以访问。有大神知道这个是什么问题引起的吗，指导下，万分感谢！

控制台报这个错误

org.apache.catalina.core.StandardWrapperValve invoke
严重: Servlet.service() for servlet [dispatcherServlet] in context with path [] threw exception [Filter execution threw an exception] with root cause
java.lang.NoSuchMethodError: javax.servlet.http.HttpServletRequest.changeSessionId()Ljava/lang/String;
	at org.springframework.security.web.authentication.session.ChangeSessionIdAuthenticationStrategy.applySessionFixation(ChangeSessionIdAuthenticationStrategy.java:40)
	at org.springframework.security.web.authentication.session.AbstractSessionFixationProtectionStrategy.onAuthentication(AbstractSessionFixationProtectionStrategy.java:87)
	at org.springframework.security.web.authentication.session.ChangeSessionIdAuthenticationStrategy.onAuthentication(ChangeSession