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I agree with Nakul - your best bet here is the name of the product right after the domain name - clean, short and straight to the point. I find the canonical urls especially useful when you need the parameters in the url in order to provide some functionality such as highlight the link in the navigation etc., but it doesn't really have much impact on the way the product is displayed - in this case I always use the shortest possible version of the url as the canonical. Later, when you create your sitemap, make sure that you also use the shortest versions to be included in it - so that you stay consistent with your decision and make it clear to the search engines what version should be indexed.