1 S postgres 5038 876 0 80 0 - 11962 sk_wai 09:57 ? 00:00:00 postgres: postgres my_app ::1(45035) idle
In PostgreSQL 9.6, there's a new option idle_in_transaction_session_timeout which should accomplish what you describe. You can set it using the SET command, e.g.:
SET SESSION idle_in_transaction_session_timeout = '5min';