There is more than one way to deal with the problem of expired sessions, all of these treated on the "Managing Cloud IAP sessions"
page. To reply to your question regarding automatic extension of a session, handling the HTTP 401 response comes nearest to an automatic solution. You'll need to implement this handling action in your code, in a manner analogous to:
if (response.status === 401) {
statusElm.innerHTML = 'Login stale. <input type="button" value="Refresh" onclick="sessionRefreshClicked();"/>';
}
The /_gcp_iap/session_refresher URL serves a page that refreshes to /_gcp_iap/do_session_refresh
after 45 minutes.
To come specifically to your question regarding /_gcp_iap/session_refresher, adding an iFrame that points to this address is one of the possible solutions to the session refreshing problem. It is treated in the "Adding an iFrame" sub-chapter of the document linked above.