You tip in the US because the employees are paid a sum that assumes tips are coming. You can pay less than minimum wage because the actual compensation comes from tips.
Of course, this is different in other countries...
And yes, 15% is standard for "acceptable" service and food. You can tip less if you really have a complaint, but with the proliferation of Yelp and Google Reviews, it's easy enough to avoid bad places.
On a road trip, that can be a little different, but...