the ones you refer to are either tiger heads (the yellow/orange variety) or the Asian giant hornet - the big ones - both have yellow/orange faces. They are unlikely to bother you if they are just out foraging for food, but keep your eyes open for a nest. As far as i know, the big ones, which nest on the ground, tend to build their nest in the mountains, so you should be ok so long as you don't go hiking. The other two are more likely to build in trees in near human habitation. If you stand outside and watch them just on evening, then you will see them making a 'bee-line' for home.

I am 1.3 km from the main road, though the road going up the hill to my place would be within the strike zone. We will warn all the neighbors