This is documented here, i.e.,
ip = linear_interpolation(xax_in, v_in; extrapolation_bc = NaN)
You may also want to check the section on Extrapolation.
PS: For vectors, arrays or dictionaries you can just use get which takes a default argument for out-of-bound keys:
julia> A = reshape(1:6, 2, 3);
julia> get(A, (1, 2), NaN)
3
julia> get(A, (4, 2), NaN)
NaN