A few things to consider re: filtering:
Actively look for signs of danger when filtering - do not passively observe traffic dynamics - be ready to act.
Have an escape route in mind, but remember it can disappear. Have a contingency plan or look for another get out.
Moving traffic presents greater problems than stationary traffic. I prefer to filter if the traffic is stationary or crawling along.
Look ahead and see what is causing the queue - traffic lights, zebra crossing, congestion, accident etc. Keep an eye out for when traffic starts to move as it is advisable to rejoin the lane.
Watch out for passenger and driver doors - either create a 4ft + buffer or cycle in the door zone v slowly and watch out for signs of an imminent dooring (check mirrors, windows and look for the activity of occupants), or simply don't filter.
Look out for pedestrians - they don't just "come from nowhere". Consider using your bell if you have one.
If it's dull and/or wet, I often use my front light to make me more conspicuous to drivers.
Obey road markings and signs prohibiting overtaking.
Don't force other traffic to brake or swerve, but be prepared to brake or swerve suddenly.
Show courtesy to other road users when filtering.
Cycle lanes may or may not help you to filter depeding on the direction in which you are travelling. Remember you do not have to use them and you do not have to use the ASL reservoir (although strictly speaking if you want to use the reservoir you should use the filter lane). Do not assume because you are using a desiganted lane that you can be less vigilant.
Lane-splitting - be very wary if traffic starts to move. Slot back into the moving traffic lane before vehicles pick up speed.
Look back before you filter (particularly for motorcyclists and other cyclists filtering) and again before you rejoin the lane. Eye contact and negotiation is often effective.
Don't filter at junctions and def not to the left of left turning traffic. If you do filter near junctions, watch out for gaps that turning vehicles will take advantage of (vehicles that are not indicating will still turn into side roads and drivers will force their way out from minor roads, so watch out...). If it's dark, look out for car headlights - you can often seen them before the emerging vehicle.
U-turning and lane changing vehicles - look out for indicators, wheel angles etc
Slot in before the front if possible. Drivers at the head of a queue are going to be focussed on finding a gap and pulling away; they're less likely to be looking for cyclists in the their mirrors
Generally, use the opposing lane when overtaking. If there is oncoming traffic either don't filter and wait in line or filter closer to the same direction traffic in your lane (but more circumspectly), or consider undertaking.
High-sided vehicles - be extra careful if you're going to filter beyond them as not only can you not see ahead of them, but they might not see you and can kill you at crawling pace...Better to stay behind them in a position that they can see you in their mirrors.
Are you near a school - don't filter!
Finally, you don't have to filter if you're not comfortable with it. I will wait in the queue if there's little benefit to making progress