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Explanation: It depends on what it looks like. If it is made of plastic (easy to clean) then it would probably be called a mat as Linda suggests. But if it is more of a pretty, blanket/quilt type thing, then I think the word 'quilt' would fit. I made one for a friend, last year :-)
Have a look at these:
I made a small playpen quilt with the English paper piecing method. This took so long to finish, that I never had the time to quilt it through! ...
The quilt was made for a playpen. There is no padding. 1630 x 1090mm ... [My mother] made the wartime playpen quilt but she and her mother were more ...