For Maven builds an environment variable POM_VERSION is present set to the version of the pom. This is useful to create a PIPELINE_VERSION from.
But usually this is set to a SNAPSHOT version and in a pipeline SNAPSHOTS should not be used. So introduce a token macro which lookup the POM_VERSION and optionally remove the -SNAPSHOT part. Then it is possible to create PIPELINE_VERSION with $POM_VERSION.$BUILD_NUMBER.
If the pom version is changed you dont need to change any configuration in Jenkins.