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Use a fly- brush (one of the semi- abrasive sponges you can use to remove dead flies from the forward facing areas in the summer months, which you can get from Serious Performance products) in conjunction with a warm bucket of water mixed with a cleaning product - preferably foaming.
Rehoover, as fly- brush normally flakes a little, and sucks off foam (which should have soaked up grime/ oils). More important for lighter coloured matts as otherwise liquid dries leaving visible rings.
Failing this - treat yourself to a new set of matts! Really does improve the look of the interior having a fresh set.