I had a couple of trouble spots on the driver side where my shoe caught the trim and left black scuff marks. I tried cleaning them before, but had little to no luck. The other day, I decided to use an all-purpose solvent called OOPS! I moistened a small piece of paper towel and gently rubbed the spots. The scuffs came right out with no discoloration (that I could tell). I decided to try it because it's marketed for removing things like crayon, tar, graffiti, etc.
Here's the Material Safety Data Sheet: http://www.cityofmenasha-wi.gov/COM/Health/MSDS/Oops%20Multi%20Purpose%20Remover.pdf It's a pretty deep read, not sure of the seriousness of a lot of it. Believe it's saying to always use gloves with this stuff, and use in a well ventilated area. It contains toluene, acetone and methanol. Made just down the road from us, in Bellingham, WA.