Filipp Shcherbanich

'rules' => [
                ['class' => 'app\components\CarUrlRule', 'connectionID' => 'db'],
            ],

<?php

namespace app\components;

use yii\web\UrlRule;

class CarUrlRule extends UrlRule
{
    public $connectionID = 'db';
    public $pattern = 'car';
    public $route = 'car';

    public function createUrl($manager, $route, $params)
    {
        if ($route === 'car/index') {
            if (isset($params['manufacturer'], $params['model'])) {
                return $params['manufacturer'] . '/' . $params['model'];
            } elseif (isset($params['manufacturer'])) {
                return $params['manufacturer'];
            }
        }
        return false;  // this rule does not apply
    }

    public function parseRequest($manager, $request)
    {
        $pathInfo = $request->getPathInfo();

        $segs=explode('/',$pathInfo.'/');

        $data = array();
           
        $n=count($segs);       
    
        for($i=0;$i<$n-1;$i+=2){

            if($segs[$i]==='') 
                continue;

            $value = $segs[$i+1];

            if($m=preg_match_all('/\[(.*?)\]/',$segs[$i],$matches)){
                
                $name=substr($segs[$i],0,$pos);

                for($j=$m-1;$j>=0;--$j)
                    if($matches[1][$j]==='')
                        $value=array($value);
                    else
                        $value=array($matches[1][$j]=>$value);

                $data[$name]=$value;
            }
            else
                $data[$segs[$i]]=$value;
        }
        return ['site/index', $data];
    }
}