I assume it was Vespa crabro, why do you think it has differences?..
Not only kids may suffer from them, but also pets and parents as well. I understand they are not predators that attack you at the 1st sight.. but no, it isnt a peaceful and wanted / tolerated neightbourhood, too risky. During all of the summer we had 2, 3, 4 hornets in the kitchen everyday, that slipped in from the attic - had to rid of them by opening windows. Happily, nothing bad happened.
Head's close-up: