All of the above responses seem to obscure the simplicity of the answer or have some nuances that are not explained.
If the file is shared publicly, you can generate a direct download link by just knowing the file ID. The URL must be in the form " https://drive.google.com/uc?id=[FILEID]&export=download" This works as of 11-22-2019. This does not require the receiver to log in to google but does require the file to be shared publicly.
In your browser, navigate to drive.google.com.
Right click on the file, and click "Get a shareable link"
Edit the URL so it is in the following format, replacing "[FILEID]" with the ID of your shared file:
That's your direct download link. If you click on it in your browser the file will now be "pushed" to your browser, opening the download dialog, allowing you to save or open the file. You can also use this link in your download scripts.
So the equivalent curl command would be:
curl -L "https://drive.google.com/uc?id=AgOATNfjpovfFrft9QYa-P1IeF9e7GWcH&export=download" > phlat-1.0.tar.gz