@SpringBootApplication
public class Application extends WebMvcConfigurerAdapter {
    public static void main(String[] args) throws Exception {
        System.setProperty("org.apache.tomcat.util.buf.UDecoder.ALLOW_ENCODED_SLASH", "true");
        SpringApplication.run(Application.class, args);
    }
    @Override
    public void configurePathMatch(PathMatchConfigurer configurer) {
        UrlPathHelper urlPathHelper = new UrlPathHelper();
        urlPathHelper.setUrlDecode(false);
        configurer.setUrlPathHelper(urlPathHelper);
    }
}

2018-08-09 21:39:28.915  INFO 6750 --- [nio-8080-exec-1] o.apache.coyote.http11.Http11Processor   : Error parsing HTTP request header
 Note: further occurrences of HTTP header parsing errors will be logged at DEBUG level.
java.lang.IllegalArgumentException: Invalid character found in the request target. The valid characters are defined in RFC 7230 and RFC 3986
    at org.apache.coyote.http11.Http11InputBuffer.parseRequestLine(Http11InputBuffer.java:479) ~[tomcat-embed-core-8.5.32.jar:8.5.32]
    at org.apache.coyote.http11.Http11Processor.service(Http11Processor.java:684) ~[tomcat-embed-core-8.5.32.jar:8.5.32]
    at org.apache.coyote.AbstractProcessorLight.process(AbstractProcessorLight.java:66) [tomcat-embed-core-8.5.32.jar:8.5.32]
    at org.apache.coyote.AbstractProtocol$ConnectionHandler.process(AbstractProtocol.java:800) [tomcat-embed-core-8.5.32.jar:8.5.32]
    at org.apache.tomcat.util.net.NioEndpoint$SocketProcessor.doRun(NioEndpoint.java:1471) [tomcat-embed-core-8.5.32.jar:8.5.32]
    at org.apache.tomcat.util.net.SocketProcessorBase.run(SocketProcessorBase.java:49) [tomcat-embed-core-8.5.32.jar:8.5.32]
    at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) [na:1.8.0_111]
    at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) [na:1.8.0_111]
    at org.apache.tomcat.util.threads.TaskThread$WrappingRunnable.run(TaskThread.java:61) [tomcat-embed-core-8.5.32.jar:8.5.32]
    at java.lang.Thread.run(Thread.java:745) [na:1.8.0_111]

import org.springframework.boot.context.embedded.ConfigurableEmbeddedServletContainer;
import org.springframework.boot.context.embedded.EmbeddedServletContainerCustomizer;
import org.springframework.boot.context.embedded.tomcat.TomcatConnectorCustomizer;
import org.springframework.boot.context.embedded.tomcat.TomcatEmbeddedServletContainerFactory;
import org.springframework.context.annotation.Bean;
import org.springframework.context.annotation.Configuration;
/**
 * Create by IntelliJ IDEA
 *
 * @author chenlei
 * @dateTime 2019/5/23 18:09
 * @description TomcatConfig
 */
@Configuration
public class TomcatConfig {
    @Bean
    public EmbeddedServletContainerCustomizer containerCustomizer() {
        return new MyCustomizer();
    }
    private static class MyCustomizer implements EmbeddedServletContainerCustomizer {
        @Override
        public void customize(ConfigurableEmbeddedServletContainer factory) {
            if (factory instanceof TomcatEmbeddedServletContainerFactory) {
                customizeTomcat((TomcatEmbeddedServletContainerFactory) factory);
            }
        }
        void customizeTomcat(TomcatEmbeddedServletContainerFactory factory) {
            factory.addConnectorCustomizers((TomcatConnectorCustomizer) connector -> {
                connector.setAttribute("relaxedPathChars", "<>[\\]^`{|}");
                connector.setAttribute("relaxedQueryChars", "<>[\\]^`{|}");
            });
        }
    }
}

import org.springframework.boot.web.embedded.tomcat.TomcatConnectorCustomizer;
import org.springframework.boot.web.embedded.tomcat.TomcatServletWebServerFactory;
import org.springframework.boot.web.servlet.server.ServletWebServerFactory;
import org.springframework.context.annotation.Bean;
import org.springframework.context.annotation.Configuration;
/**
 * Create by IntelliJ IDEA
 *
 * @author chenlei
 * @dateTime 2019/5/23 18:09
 * @description TomcatConfig
 */
@Configuration
public class TomcatConfig {
    @Bean
    public ServletWebServerFactory webServerFactory() {
        TomcatServletWebServerFactory fa = new TomcatServletWebServerFactory();
        fa.addConnectorCustomizers((TomcatConnectorCustomizer) connector -> connector.setProperty("relaxedQueryChars", "[]{}"));
        return fa;
    }
}

@Configuration
public class TomcatConfig {
    @Bean
    public ServletWebServerFactory webServerFactory() {
        TomcatServletWebServerFactory fa = new TomcatServletWebServerFactory();
        fa.addConnectorCustomizers(connector -> {
            connector.setProperty("relaxedQueryChars", "(),/:;<=>?@[\\]{}");
            connector.setProperty("rejectIllegalHeader", "false");
        });
        return fa;
    }
}