Some regulators can make a slight hissing noise as they work. Inside there is a small needle valve and as the high pressure gas gets trough the valve it can cause a slight hiss.
As you cannot smell gas nor detect a leak with saopy water I'd guess your probably just hearing the regulator working.
On way to tell, if you turn off every gas applaince in the caravan, the hiss should stop, and if you turn every thing on it might be a little louder.
Ultimately If you are still unsure, it would be safest to have your gas system checked out by a teckie.