got bit by a brown yellow insect in germany

i was in a forest in germany in the nrw region. it was yellow and brown striped and the size of a wasp but i only got a quick glimpse before i panicked. it fell on my chest inside my tank top i slapped it once but i think it bit me on my chest. im not sure if it had wings or legs. I'm kinda scared because I'm in public an can't check if its still somewhere in my shirt or if it left a mark rn but allergies run in the family and i dont want my throat closing up or something.

any guesses what it could be? sorry i dont have a picture