It was called The Dark Continent in the 19th century. I suspect the reason you're not finding much from the 13th and 14th is because at that time Europeans didn't really "do" Africa, or at least not Sub-Saharan Africa.
Libya was also applied to the entire continent, or what was known of it anyway, in earlier times going back to Ancient Greece. Have you tried looking up medieval maps? Those would have labels, though they might be too educated for the common vernacular.
My impression (which may be incorrect and I don't have a source to back it up) is that "Nubian" and, less often, "Ethiopian" were often used to mean "African" in general; I don't know that Nubia or Ethiopia were used as equivalents to Africa.
You might also look into Prestor John stuff: He was supposed to be an African king and that might give you some good words for Africa or things African.
My bad: He was a pseudo-historical figure believed to be real for most of the Middle Ages, an African king of a Christian nation. The Wikipedia entry may help? There are passing references to him in maybe some of the Grail romances, I think... Maybe Parzival?
'Africa' is the most likely, depending on where exactly your Europeans come from. Try an image search for historical maps for other ideas. Here's a wikipedia page: http://en.wikipedia.org/wiki/Ancient_world_maps
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You might also look into Prestor John stuff: He was supposed to be an African king and that might give you some good words for Africa or things African.
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Here's a wikipedia page: http://en.wikipedia.org/wiki/Ancient_world_maps
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