The Highway Code carries two mentions of filtering last time I checked.
EDIT: Yeah, here we are. From
https://www.gov.uk/browse/driving/highway-code" onclick="window.open(this.href);return false;
88
Manoeuvring. You should be aware of what is behind and to the sides before manoeuvring. Look behind you; use mirrors if they are fitted. When in traffic queues look out for pedestrians crossing between vehicles and vehicles emerging from junctions or changing lanes. Position yourself so that drivers in front can see you in their mirrors. Additionally,
when filtering in slow-moving traffic, take care and keep your speed low.
151
In slow-moving traffic. You should
reduce the distance between you and the vehicle ahead to maintain traffic flow
never get so close to the vehicle in front that you cannot stop safely
leave enough space to be able to manoeuvre if the vehicle in front breaks down or an emergency vehicle needs to get past
not change lanes to the left to overtake
allow access into and from side roads, as blocking these will add to congestion
be aware of cyclists and motorcyclists who may be passing on either side.
211
It is often difficult to see motorcyclists and cyclists, especially when they are coming up from behind, coming out of junctions, at roundabouts, overtaking you or
filtering through traffic. Always look out for them before you emerge from a junction; they could be approaching faster than you think. When turning right across a line of slow-moving or stationary traffic, look out for cyclists or motorcyclists on the inside of the traffic you are crossing. Be especially careful when turning, and when changing direction or lane. Be sure to check mirrors and blind spots carefully.