解决：

@Bean(name="webServerFactory")
    public ServletWebServerFactory webServerFactory() {
        TomcatServletWebServerFactory tomcatServletWebServerFactory= new TomcatServletWebServerFactory();
        tomcatServletWebServerFactory.addConnectorCustomizers((TomcatConnectorCustomizer) connector -> connector.setProperty("relaxedQueryChars", "[]{},"));
        return tomcatServletWebServerFactory;
    }

或者配置文件:
 

#参数中允许未编码的特殊字符
server.tomcat.relaxed-query-chars=[,]