解决：The valid characters are defined in RFC 7230 and RFC 3986

修改tomcat中 server.xml 文件，在<Connector>节点中，添加2个属性

relaxedPathChars="[]|" relaxedQueryChars="[]|{}^\`"<>"

修改前

<Connector connectionTimeout="20000" port="8083" protocol="HTTP/1.1" redirectPort="8443" maxHttpHeaderSize="81920" URIEncoding="UTF-8" />

修改后

<Connector connectionTimeout="20000" port="8083" protocol="HTTP/1.1" redirectPort="8443" maxHttpHeaderSize="81920" URIEncoding="UTF-8" relaxedPathChars="[]|" relaxedQueryChars="[]|{}^&#x5c;&#x60;&quot;&lt;&gt;" />

参考：https://confluence.atlassian.com/jirakb/changing-server-xml-to-handle-requests-with-special-characters-958453799.html