pkill -P $$
will fit (just kills it's own descendants)
EDIT: I got a downvote, don't know why. Anyway here is the help of -P
-P, --parent ppid,... Only match processes whose parent process ID is listed.
and $$ is the process id of the script itself
$$
After starting each child process, you can get its id with
ID=$!
Then you can use the stored PIDs to find and kill all grandchild etc. processes as described here or here.
If you use a negative PID with kill it will kill a process group. Example:
kill
kill -- -1234