Anti-freeze is water soluble, so soap and water should take it out. You may have trouble with the dye staining clothes though, a pre-wash soak or small amount of color-safe bleach may help.
Antifreeze is water soluble. You can use water to rinse the anti-freeze out of the carpeting provided you remove the carpeting from the car first. You don't want to put water on the carpet on the car...