I've recently built a few fortresses and the concept that a caravan only spawns where it has access to the Depot is false. As a result of that issue, I've adopted the following method of channeling my embark perimeter. The result is that my entire edge is accessable to wagons, while only specific locations are accessable to other ground bound humanoids (goblins, elves, humans, etc).
Z
#v#### # = Unaltered ground
V = Ramp down
^ = Ramp up
. = Dug out tile
Z-1
#^.###
Then at a location of my choosing, I install a goblin grinder to handle humanoids and critters......
The ramp is accessable from the edge of the embark, but the undercut I do next to it renders the ramp useless for ground bound creatures. The caravan wagons however can cross the border without any problems. One caveat however, it's rather easy to miss a spot on the perimeter that will allow access to the interior. I know if I've done the job correctly by looking at the error message prior to covering one of the pits at the end of the goblin grinder. Put the cursor on the edge side of the border and if you see an error message that there's not hatch available to build, then you've done it right.... Otherwise, cancel the placement of the hatch and look around the border carefully to see where you accidentally made a leak. The ramp MUST NOT touch any interior tile in the Z-1 layer either orthogonally or diagonally.