The roots of polynomial $ p(d) $ are:
$$ \begin{aligned}d_1 &= -1.7549\\[1 em]d_2 &= -0.1226+0.7449i\\[1 em]d_3 &= -0.1226-0.7449i \end{aligned} $$Polynomial $ d^3+2d^2+d+1 $ has no rational roots that can be found using Rational Root Test, so the roots were found using qubic formulas.