Securities and Exchange Commission
                             Washington, D.C. 20549
                      ------------------------------------

                                   Form 11-K


  [x] Annual Report Pursuant to Section 15 (d) of the Securities Exchange Act
                                    of 1934
                  For the fiscal year ended December 31, 2001


                                       OR


  [ ] Transition Report Pursuant to Section 15 (d) of the Securities Exchange
                                  Act of 1934


                         Commission file number 1-6003



               Federal Signal  Corporation 401(K) Retirement Plan (Full
     title of plans and address of plans if different from that of the issuer
                                  named below)



                           Federal Signal Corporation
                       1415 West 22nd Street, Suite 1100
                           Oak Brook, Illinois 60523
                        --------------------------------
             (Name of issuer of the securities held pursuant to the
            plans and the address of its principal executive office)




                              Required Information
                              --------------------

Item 4

     In lieu of the  financial  statements  required  by Items  1-3, the Plan is
submitting  financial  statements  prepared  in  accordance  with  the financial
reporting  requirements  of ERISA  for the years  ended  December  31,  2001 and
December 30, 2001 and 2000.







                                  SIGNATURES

     Pursuant to the  requirements  of the Securities  Exchange Act of 1934, the
Plan Administrative Committee has duly caused this annual report to be signed on
its behalf by the undersigned hereunto duly authorized.


Date:  June 28, 2002                         FEDERAL SIGNAL CORPORATION
                                             401(K) RETIREMENT PLAN



                                             By: /s/ Joseph J. Ross
                                                 ---------------------
                                                 Joseph J. Ross
                                                 Plan Administrative Committee


                                             By: /s/ Kim A. Wehrenberg
                                                 ---------------------
                                                 Kim A Wehrenberg
                                                 Plan Administrative Committee


                                             By: /s/ Paul J. Wittig
                                                 ---------------------
                                                 Paul J. Wittig
                                                 Plan Administrative Committee






                         FEDERAL SIGNAL CORPORATION
                            401(K) RETIREMENT PLAN

                             FINANCIAL STATEMENTS

                            DECEMBER 31, 2001, AND
                          DECEMBER 30, 2001 AND 2000





                               CONTENTS



                                                                 Page

Independent Auditor's Report                                        1

Statement of Net Assets Available for Benefits,
December 31, 2001, and December 30, 2001 and 2000                   2

Statement of Changes in Net Assets Available for Benefits,
One Day Ended December 31, 2001, and
Years Ended December 30, 2001 and 2000                              3

Notes to Financial Statements,
December 31, 2001, and December 30, 2001 and 2000                   4

Supplemental Schedule:

   Schedule H, Line 4i - Schedule of Assets Held
   for Investment Purposes, December 31, 2001,
   and December 30, 2001                                            9












                   INDEPENDENT AUDITOR'S REPORT


Plan Administrator
Federal Signal Corporation
401(k) Retirement Plan


We have audited the accompanying  statement of net assets available for benefits
of Federal Signal  Corporation  401(k)  Retirement Plan as of December 31, 2001,
and  December  30, 2001 and 2000,  and the related  statement  of changes in net
assets  available for benefits for the one day ended  December 31, 2001, and the
years ended  December  30, 2001 and 2000.  These  financial  statements  are the
responsibility  of the Plan's  management.  Our  responsibility is to express an
opinion on these financial statements based on our audits.

We conducted  our audits in accordance  with U.S.  generally  accepted  auditing
standards.  Those standards require that we plan and perform the audit to obtain
reasonable assurance about whether the financial statements are free of material
misstatement.  An audit includes examining, on a test basis, evidence supporting
the amounts and disclosures in the financial statements.  An audit also includes
assessing the  accounting  principles  used and  significant  estimates  made by
management,  as well as evaluating the overall financial statement presentation.
We believe that our audits provide a reasonable basis for our opinion.

In our opinion,  the financial  statements  referred to above present fairly, in
all material  respects,  the net assets available for benefits of the Plan as of
December 31, 2001, and December 30, 2001 and 2000, and the changes in net assets
available  for benefits for the one day ended  December 31, 2001,  and the years
ended  December 30, 2001 and 2000, in conformity  with U.S.  generally  accepted
accounting principles.

Our audits  were  conducted  for the  purpose of forming an opinion on the basic
financial statements taken as a whole. The accompanying supplemental schedule of
assets held for investment purposes at year end is presented for the purposes of
additional analysis and is not a required part of the basic financial statements
but is supplementary information required by the Department of Labor's Rules and
Regulations for Reporting and Disclosure  under the Employee  Retirement  Income
Security  Act of 1974.  The  supplemental  schedule  has been  subjected  to the
auditing procedures applied in the audits of the basic financial statements and,
in our opinion,  is fairly  stated in all  material  respects in relation to the
basic financial statements taken as a whole.



/s/ PHILIP ROOTBERG & COMPANY, LLP
Chicago, Illinois
June 6, 2002








FEDERAL SIGNAL CORPORATION
401(K) RETIREMENT PLAN
STATEMENT OF NET ASSETS AVAILABLE FOR BENEFITS


                                           December 31,                December 30,
                                               2001              2001              2000
                                                                     
Assets

  Contributions receivable from:
   Federal Signal Corporation              $  4,227,198    $   4,227,198      $  3,954,790
   Participants                                 810,813          810,813           927,018
  Dividends and interest receivable               -              497,036           196,514
  Investments at fair value:
   Vanguard Wellington Fund                  14,791,764       14,840,620        13,494,681
   Vanguard Explorer Fund                     8,805,379        8,888,227         8,717,827
   Vanguard Index 500 Portfolio              40,100,536       40,509,419        44,485,283
   Vanguard Primecap Fund                    37,497,010       37,872,908        42,733,422
   Vanguard Retirement Savings Trust         44,955,583       44,742,395        38,847,321
   Federal Signal Corporation common stock   32,432,843       33,127,416        27,286,590
   Vanguard International Growth Fund         1,046,317        1,040,741         1,131,907
   Vanguard Total Bond Market Index Fund      1,760,428        1,746,012           591,767
  Participant Loan Fund                       4,997,564        4,973,494         5,137,343
                                            -----------     ------------       -----------

Net Assets Available for Benefits          $191,425,435     $193,276,279      $187,504,463





See accompanying notes to financial statements





FEDERAL SIGNAL CORPORATION
401(K) RETIREMENT PLAN
STATEMENT OF CHANGES IN NET ASSETS AVAILABLE FOR BENEFITS


                                         One Day Ended               Years Ended
                                          December 31,               December 30,
                                            2001                  2001            2000

                                                                      
Additions

  Contributions from employer          $        -          $   5,484,759      $  5,246,683
  Contributions from participants               -             12,022,512        12,320,883
  Transfer of assets from plan mergers          -                446,006             -
  Interest and dividends                      6,852            6,184,099        10,360,304
  Net realized and unrealized
   gains (losses) in fair value
   of investments:
     Mutual funds                        (1,201,292)         (12,033,025)       (7,229,334)
     Common stock                          (654,690)           4,854,474         5,087,016
                                          ---------           ----------        ----------

                                         (1,849,130)          16,958,825        25,785,552
                                         ----------           ----------        ----------

Deductions

  Withdrawals by participants                (1,714)        (11,166,019)       (13,927,181)
  Other                                         -               (20,990)           (18,287)
                                         ----------          ----------         ----------

                                             (1,714)        (11,187,009)       (13,945,468)
                                         ----------          ----------         ----------

Net Additions (Deductions)               (1,850,844)          5,771,816         11,840,084

Net Assets Available for Benefits -
  Beginning of Period                   193,276,279         187,504,463        175,664,379
                                        -----------         -----------        -----------

Net Assets Available for Benefits -
  End of Period                        $191,425,435        $193,276,279       $187,504,463
                                        ===========         ===========        ===========



See accompanying notes to financial statements




FEDERAL SIGNAL CORPORATION
401(K) RETIREMENT PLAN
NOTES TO FINANCIAL STATEMENTS

December 31, 2001, and December 30, 2001 and 2000



1 - Significant Accounting Policies

    Basis of Accounting - The accompanying  financial statements are prepared on
    the accrual basis of accounting.

    Estimates - The preparation of financial  statements in conformity with U.S.
    generally accepted accounting  principles requires the plan administrator to
    make  estimates and  assumptions  that affect certain  reported  amounts and
    disclosures. Accordingly, actual results may differ from those estimates.

    Valuation of  Investments  - Shares of registered  investment  companies are
    valued at quoted market prices which represent the net asset value of shares
    held by the Federal  Signal  Corporation  401(k)  Retirement  Plan ("Plan").
    Values for Federal Signal Corporation  ("Company") common stock are based on
    the December 31, 2001, and December 30, 2001 and 2000, closing prices.

    Accounting  Method - Security  transactions  are  accounted  for on the date
    securities are purchased or sold (trade date).  Dividend  income is recorded
    on the ex-dividend  date.  Interest  income is recognized  when earned.  Net
    realized  and  unrealized  appreciation  is  recorded  in  the  accompanying
    financial  statements  as net  appreciation  in fair  value of  investments.
    Contributions   are  recognized  based  on  payroll  dates  and  accrued  if
    applicable.

    Fees - Investment  advisory fees for portfolio  management of Vanguard Funds
    are paid directly from fund earnings and will not reduce assets of the Plan.
    Purchase  fees, if  applicable,  are paid by the  participants  investing in
    those funds which are subject to such fees.


2  -  Description of Plan

    The following  description  of the Plan  provides only general  information.
    Participants  should  refer  to  the  plan  agreement  for a  more  complete
    description of the Plan's provisions.

    General - The Plan is a defined contribution plan covering a majority of the
    Company's  employees who have three months of service.  It is subject to the
    provisions of the Employee Retirement Income Security Act of 1974 ("ERISA").
    On April 1, 1994,  the plan sponsor  adopted the Vanguard  Prototype  401(k)
    Savings Plan. The Plan is sponsored by the Company.

    Contributions - Each year,  participants at most divisions may contribute up
    to 15% of pretax annual compensation,  as defined in the Plan, and after-tax
    contributions of up to 6% of compensation, limited to a maximum employer and
    employee  contribution of 23% as defined in the Plan.  Participants may also
    transfer amounts  representing  distributions  from other qualified  defined
    benefit  or  contribution  plans.  Company  contributions  are  based  on  a
    percentage of employee  contributions or as a discretionary  amount based on
    eligible employee compensation and/or hours/months worked.






    Participant  Accounts  - Each  participant's  account is  credited  with the
    participant's contribution and allocations of (a) the Company's contribution
    and (b) plan  earnings  and is  charged  with an  allocation  of  investment
    management  fees and, for  terminated  employees,  administrative  expenses.
    Allocations  are based on  participant  earnings  or  account  balances,  as
    defined.  Forfeited balances of terminated  participants' nonvested accounts
    are used to reduce future Company  contributions  depending on the division.
    The benefit to which a  participant  is entitled is the benefit  that can be
    provided from the participant's vested account.

    Vesting - Participants are immediately  vested in their  contributions  plus
    actual earnings thereon. Vesting in the Company's matching and discretionary
    contribution portion of their accounts plus actual earnings thereon is based
    on years of continuous  service.  A  participant  is 100% vested after three
    years of credited  service,  except for the participants  from the Emergency
    One division,  who are  immediately  vested in the  Company's  discretionary
    contribution.

    Investment  Options - Upon  enrollment in the Plan, a participant may direct
    employee  contributions in 5% increments in a variety of investment  choices
    at Vanguard  Fiduciary  Trust Company  ("Vanguard")  including the Company's
    common stock. Participants may change their investment by calling Vanguard.

    Participant  Notes  Receivable  -  Participants  may  borrow  from their own
    contributions  a minimum  of $1,000 up to a maximum  equal to the  lesser of
    $50,000 or 50% of their account balance.  Loan transactions are treated as a
    transfer to (from) the investment fund from (to) the participant  loan fund.
    Loans are required to be repaid within five years, with the exception that a
    loan which is used to acquire a principal residence may be repaid within ten
    years. The loans are secured by the balance in the participant's account and
    bear  interest at a rate of prime plus one percent.  Principal  and interest
    are paid ratably through payroll deductions.

    Payment of  Benefits  -  Participants  are  eligible  to receive  the vested
    portion of their plan account upon retirement, termination of employment, or
    total and  permanent  disability.  Payment will  generally be made in a lump
    sum.

    Forfeited  Accounts - As of December  31,  2001,  and  December 30, 2001 and
    2000,  forfeited  nonvested  accounts totaled $42,889,  $43,322 and $37,800,
    respectively.   These   accounts   are  used  to  reduce   future   employer
    contributions.  Also, in 2001 and 2000, employer  contributions were reduced
    by $38,062 and $40,385, respectively, from forfeited nonvested accounts.





3 - Non-Participant-Directed Investments

    In accordance  with the adoption of Statement of Position 99-3,  "Accounting
    for and Reporting of Certain Defined Contribution Plan Investments and Other
    Disclosure  Matters,"  the  following  information  about net assets and the
    significant  components  of  changes in net assets  available  for  benefits
    relating to non-participant-directed investments is being disclosed:

                                           December 31,        December 30,
                                              2001          2001         2000
                                           ---------     --------     --------
      Net Assets:
        Contribution receivable from
          Federal Signal Corporation     $ 1,917,434   $ 1,917,434  $ 1,852,912
        Dividend receivable                    -            82,126        -
        Federal Signal Corporation
          common stock                     9,943,315    10,062,109    8,308,866
                                          ----------    ----------   ----------

                                         $11,860,749   $12,061,669  $10,161,778
                                          ==========    ==========   ==========


                                         One Day ended        Years Ended
                                          December 31,        December 31,
                                            2001          2001           2000
                                          --------    ----------      ---------
        Changes in Net Assets:
          Contributions from employer    $   -        $2,637,013     $2,549,078
          Interest and dividends             -           244,012        381,867
          Net realized and unrealized
           gains (losses)                 (200,920)    1,422,373      1,423,888
          Withdrawals by participants        -        (1,022,056)      (836,536)
          Reclassified to participant-
           directed investments              -        (1,381,451)    (1,106,275)
                                           -------     ---------      ---------
        Net Additions (Deductions)       $(200,920)   $1,899,891     $2,412,022
                                           =======     =========      =========


4 - Related Party Transactions

    Substantially all assets of the Plan are held in trust by Vanguard,  trustee
    for the Plan.  Administrative and trustee fees in the amount of $103,810 and
    $95,528,  respectively,  were paid during the years ended  December 30, 2001
    and 2000, from the Company.

    The Plan has no reportable  transactions with nonexempt  parties-in-interest
    as defined by the  Department  of Labor for the one day ended  December  31,
    2001, and the years ended December 30, 2001 and 2000.






5 - Plan Merger

    The Company  purchased the Dico  Corporation in 1994 and, as a result of the
    acquisition,  the Dico Corporation 401(k) Plan ("Dico Plan") was effectively
    merged into the Plan on December 31, 1994. The Dico Plan assets consisted of
    insurance  contracts that expired in 2001 and participant loans.  Nationwide
    Insurance Company  administered the insurance  contracts,  participant loans
    and participant  accounts through October 16, 2001, at which time the assets
    were  transferred to the Plan's trust. On the date of the transfer,  the net
    assets of the Dico Plan were valued at $446,006.


6 - Income Tax Status

    The Internal  Revenue Service ("IRS") has ruled that the Vanguard  Prototype
    401(k)  Savings Plan which was adopted by the plan sponsor  qualifies  under
    Sections 401(a) and 501(a) of the Internal  Revenue Code ("IRC") by a letter
    dated  September 7, 1994. The IRS has determined and informed the Company by
    a letter dated July 31, 1996,  that the Plan and related  trust are designed
    in accordance with applicable sections of the IRC.


7 - Plan Termination

    Although it has not expressed any intent to do so, the Company has the right
    under the Plan to discontinue its contributions at any time and to terminate
    the  Plan  subject  to the  provisions  of  ERISA.  In  the  event  of  Plan
    termination, participants will become 100% vested in their accounts.


8 - Subsequent Events

    The  Company  will be  restating  the Plan  effective  January 1, 2002.  The
    Company will no longer be using the Vanguard  Prototype 401(k) Savings Plan.
    The  Company  will  draft  its  own  plan   document  in  order  to  include
    descriptions  of the  different  contribution  structures  for  each  of its
    divisions.  The new plan  document  will also include the  provisions of the
    most recent tax law changes.

    The Company intends to amend the restated plan,  effective June 1, 2002. The
    Plan will be amended to add an employee stock ownership  feature wherein all
    employer  contributions  will be invested  in Company  stock.  However,  the
    participants will be allowed to transfer their funds out of Company stock at
    any time. The amendment will also provide for the  participants  to have the
    option of receiving  Company  stock  dividends in cash instead of having the
    dividends automatically reinvested in the Plan.




                               SUPPLEMENTAL SCHEDULE






FEDERAL SIGNAL CORPORATION 401(K) RETIREMENT PLAN                    Schedule 1
SCHEDULE H, LINE 4i - SCHEDULE OF ASSETS HELD
FOR INVESTMENT PURPOSES
December 31, 2001


                                 EIN:  36-1063330

                                     PN:  003


                                                (c)                                       (e)
          (b)                              Description of                   (d)         Current
(a)  Identity of Issue                       Investment                     Cost         Value
- ---  -----------------               -------------------------          -----------   -----------
                                                                             
 *   Vanguard Wellington Fund        Registered Investment Company      $15,018,210   $14,791,764

 *   Vanguard Explorer Fund          Registered Investment Company        8,887,178     8,805,379

 *   Vanguard Index 500 Portfolio    Registered Investment Company        32,734,692   40,100,536

 *   Vanguard Primecap Fund          Registered Investment Company        34,269,368   37,497,010

 *   Vanguard Retirement
       Savings Trust                 Common/Collective Trust              44,955,583   44,955,583

 *   Federal Signal Corporation
       Common Stock                  Common Stock                         28,583,521   32,432,843

 *   Vanguard International
       Growth Fund                   Registered Investment Company         1,357,271    1,046,317

 *   Vanguard Total Bond
       Market Index Fund             Registered Investment Company         1,743,875    1,760,428

 *   Participant Loan Fund           Interest at Rates From 5.75% to 10.5%      -       4,997,564



* A party-in-interest as defined by ERISA.












FEDERAL SIGNAL CORPORATION 401(K) RETIREMENT PLAN                    Schedule 1
SCHEDULE H, LINE 4i - SCHEDULE OF ASSETS HELD
FOR INVESTMENT PURPOSES - Continued
December 30, 2001


                                 EIN:  36-1063330

                                     PN:  003




                                                (c)                                       (e)
          (b)                              Description of                   (d)         Current
(a)  Identity of Issue                       Investment                     Cost         Value
- ---  -----------------               -------------------------           -----------  -----------
                                                                             
 *   Vanguard Wellington Fund        Registered Investment Company       $15,023,875  $14,840,620

 *   Vanguard Explorer Fund          Registered Investment Company         8,888,232    8,888,227

 *   Vanguard Index 500 Portfolio    Registered Investment Company        32,692,685   40,509,419

 *   Vanguard Primecap Fund          Registered Investment Company        34,273,877   37,872,908

 *   Vanguard Retirement
       Savings Trust                 Common/Collective Trust              44,742,395   44,742,395

 *   Federal Signal Corporation
       Common Stock                  Common Stock                         28,354,794   33,127,416

 *   Vanguard International
       Growth Fund                   Registered Investment Company         1,357,271    1,040,741

 *   Vanguard Total Bond
       Market Index Fund             Registered Investment Company         1,736,396    1,746,012

 *   Participant Loan Fund           Interest at Rates From 5.75% to 10.5%      -       4,973,494



* A party-in-interest as defined by ERISA.