This is commonly done using http://www.pgbouncer.org/
While it's not built-in, it's a really common solution and can achieve high number of connections. It comes with some issues though (no server-side prepared statements). And yes, it's not exactly the same as pipelining on the server itself since it's still limited by the number of bouncer connections, but there's usually enough idle time to sacrifice some latency for throughput.
There's also https://www.pgpool.net/mediawiki/index.php/Main_Page but I'm not familiar with the details.