Wasps and bumble bees often look rather similar so it is often quite difficult to tell them apart unless you have a particularly close look at the bug. There are a number of wasps that could potentially fit the description above, some of these could include:
Doing a search engine image search for these particular species should be able to give you a better idea of whether they match the description of the insect you saw.
- European Hornet
- Sphecius (Cicada Killer)
- Paper Wasp
Doing a search engine image search for these particular species should be able to give you a better idea of whether they match the description of the insect you saw.