Freezing of the evaporator (Cold) coil happens for one of several reasons.
I list the most common ones in no particular order
1: Reduced/impaired air flow.. Some say just running the blower/fan on high is enough to prevent it..By all means clean the intake filters
2: LOW Coolant,, The "Freon" (not really any more) used if low can cause freeze up.. IF it's leaking coolant replacement may be in order
3: Many RV air conditioners have a frost sensor.. This is a probe stuck in the bottom of the evaporator.... If it is lying in the drip tray it does not work.
Very high humidity and dirt can combine to cause all sorts of problems.