find their nest, and wait till dusk . at dusk they will be settled down in their nest for the night. then you can spray the nest an wasp with a wasp killer. when they are all dead knock the nest down with a broom handle or the like and step on it to kill any unborn wasp. but remember shoes. an you may need a flashlight.
If you can wait till winter. Then kill them. I have the same thing. The really big yellow ones. Trust me. Do not make them mad. They are really smart. I was a good 30 ft. away and they still found me when I shot some water on them trying to knock the nest down. Boy do they pack a punch. I ran through 2 neighbors yards before they gave up. I did not know I could run that fast. The neighbors almost fell off the porch laughing.
Get a wasp spray (with a loooooong range!), wait until evening when it cools down and their activity is slower, spray the nest, drenching it with spray (follow the directions on the can!) and have an exit plan to seek shelter inside away from the wasps right away after you spray. You should have a partner to watch and help you if necessary. Only attempt this if you're an adult and feel you can do it competently.