What is the most ideal way to serialize a set of filters to used by Backbone.JS's Router.navigate()?

Question

Let's say you have some filters:

{department_id: 4, vendor_id:8, start_date: "2014-04-03"}

What would be the best way to serialize this data to be used in a URL with Backbone.JS's Router.history()?

By "best", I mean something that can be easily serialized/de-serialized and looks neat when appended to the URL.

Thanks!